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<h1>Agent.cpp</h1>  </div>
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<a href="Agent_8cpp.html">Idź do dokumentacji tego pliku.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 
<a name="l00013"></a>00013 <span class="preprocessor">#include &quot;<a class="code" href="Agent_8hh.html" title="Zawiera opis klasy Agent.">Agent.hh</a>&quot;</span>
<a name="l00014"></a>00014 <span class="preprocessor">#include &quot;<a class="code" href="GnuplotInc_8hh.html" title="Zawiera funkcje uzywane do rysowania wykresow uzywajac Gnuplot&amp;#39;a.">GnuplotInc.hh</a>&quot;</span>
<a name="l00015"></a>00015 <span class="preprocessor">#include &lt;iostream&gt;</span>
<a name="l00016"></a>00016 <span class="preprocessor">#include &lt;fstream&gt;</span>
<a name="l00017"></a>00017 <span class="preprocessor">#include &lt;cstdlib&gt;</span>
<a name="l00018"></a>00018 <span class="preprocessor">#include &lt;stdio.h&gt;</span>
<a name="l00019"></a>00019 <span class="preprocessor">#include &lt;stdlib.h&gt;</span>
<a name="l00020"></a>00020 <span class="preprocessor">#include &lt;string&gt;</span>
<a name="l00021"></a>00021 <span class="preprocessor">#include &lt;cstring&gt;</span>
<a name="l00022"></a>00022 <span class="preprocessor">#include &lt;cmath&gt;</span>
<a name="l00023"></a>00023 
<a name="l00024"></a>00024 <span class="keyword">using namespace </span>std;
<a name="l00025"></a>00025 
<a name="l00026"></a>00026 <span class="keywordtype">int</span> <a class="code" href="classAgent.html#a1a14519d4403a1715574eecf9d239551" title="Liczba stworzonych agentow.">Agent::_NumOfAgentsCreated</a>=0;
<a name="l00027"></a>00027 
<a name="l00028"></a>00028 <a class="code" href="classAgent.html#a18df514da404e6a46557dcb90628b9f6" title="Konstruktor parametryczny klasy agent.">Agent::Agent</a>(list&lt;Segment&gt; ListOfSegments,<span class="keywordtype">double</span> vel,<span class="keywordtype">double</span> radius,<span class="keywordtype">double</span> SquareLength,<span class="keywordtype">double</span> TimeStep)
<a name="l00029"></a>00029 {
<a name="l00030"></a>00030         _MyClock=<a class="code" href="classClock.html" title="Klasa opsiujaca obiekt zegarka.">Clock</a>(TimeStep);
<a name="l00031"></a>00031         _ActualPosition=ListOfSegments.front()._Start;
<a name="l00032"></a>00032         _MySquare=_MyNextSquare=CoordinatesToSquare(_ActualPosition,SquareLength);
<a name="l00033"></a>00033         _SegmentNo=0;
<a name="l00034"></a>00034 
<a name="l00035"></a>00035         _MyVel=vel;
<a name="l00036"></a>00036         _PathDone=<span class="keyword">false</span>;
<a name="l00037"></a>00037         _SquareLength=SquareLength;
<a name="l00038"></a>00038         _MyRadius=radius;
<a name="l00039"></a>00039         _MyStatus=Moving;
<a name="l00040"></a>00040         _MyID=_NumOfAgentsCreated++;
<a name="l00041"></a>00041         _ListOfSegments=ResolveForbiddenSectors(ListOfSegments);
<a name="l00042"></a>00042         SetVelocityToSegments();
<a name="l00043"></a>00043 
<a name="l00044"></a>00044 
<a name="l00045"></a>00045         list&lt;Segment&gt;::iterator ListIter=_ListOfSegments.begin();
<a name="l00046"></a>00046         <span class="keywordflow">for</span>(;ListIter!=_ListOfSegments.end();ListIter++){
<a name="l00047"></a>00047 cout&lt;&lt;ListIter-&gt;_Start._x&lt;&lt;<span class="stringliteral">&quot; &quot;</span>&lt;&lt;ListIter-&gt;_Start._y&lt;&lt;<span class="stringliteral">&quot; &quot;</span>
<a name="l00048"></a>00048                 &lt;&lt;ListIter-&gt;_End._x&lt;&lt;<span class="stringliteral">&quot; &quot;</span>&lt;&lt;ListIter-&gt;_End._y&lt;&lt;endl;
<a name="l00049"></a>00049         }
<a name="l00050"></a>00050 
<a name="l00051"></a>00051         DropActualPosition();
<a name="l00052"></a>00052 
<a name="l00053"></a>00053 }
<a name="l00054"></a>00054 
<a name="l00055"></a><a class="code" href="classAgent.html#ab8dd8d152605cf1339fed595376e83cb">00055</a> <a class="code" href="classAgent.html#ab8dd8d152605cf1339fed595376e83cb" title="destruktor klasy Agent">Agent::~Agent</a>() {
<a name="l00056"></a>00056         <span class="comment">// TODO Auto-generated destructor stub</span>
<a name="l00057"></a>00057 }
<a name="l00058"></a>00058 
<a name="l00059"></a><a class="code" href="classAgent.html#a80e144d0fd78f8e1a54abf92158448e1">00059</a> <span class="keywordtype">void</span> <a class="code" href="classAgent.html#a80e144d0fd78f8e1a54abf92158448e1" title="Glowna procedura klasy agent bedaca realizacja istnienia agenta na scenie.">Agent::Run</a>()
<a name="l00060"></a>00060 {
<a name="l00061"></a>00061         <span class="keywordflow">while</span>(!<a class="code" href="classAgent.html#ad7b052e72604807dfadac10d28b4ef86" title="flaga trasy TRUE - trasa ukonczona, FALSE - odwrotnie">_PathDone</a>){
<a name="l00062"></a>00062                 <a class="code" href="classAgent.html#a569b980937fe959673a4e6010866afe7" title="zegar agenta pozwalajacy na odniesienie do rzeczywistego czasu symulacji">_MyClock</a>.<a class="code" href="classClock.html#a7be770b38ca6e3a228850cf60b8cb82d" title="Procedura odmierzajaca krok zegara.">TickTack</a>();
<a name="l00063"></a>00063                 <span class="keywordflow">if</span>(<a class="code" href="classAgent.html#a141897370601ada8da1358b303d2e1e7" title="Funkcja wykonująca ruch agenta zgodnie z zaplanowana sciezka.">Move</a>()&gt;<a class="code" href="classAgent.html#ae8c51ce6dc1b881ac5ef5f876253646eaaf468dcc2da585268fe4ca43929c4160">Moving</a>){
<a name="l00064"></a>00064                         <span class="comment">//czekanie</span>
<a name="l00065"></a>00065                         <span class="comment">//PlotScene(5,3,_MyID);</span>
<a name="l00066"></a>00066                         cout&lt;&lt;<a class="code" href="classAgent.html#a0da83836e6986f53455d1f8663d999c7" title="kwadrat w ktorym obecnie znajduje sie agent">_MySquare</a>.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a>&lt;&lt;<span class="stringliteral">&quot; &quot;</span>&lt;&lt;<a class="code" href="classAgent.html#a0da83836e6986f53455d1f8663d999c7" title="kwadrat w ktorym obecnie znajduje sie agent">_MySquare</a>.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a>&lt;&lt;<span class="stringliteral">&quot; Next: &quot;</span>&lt;&lt;<a class="code" href="classAgent.html#a41335bf2fd1fe065f82c3409927d8738" title="kwadrat na ktory agent ma zamiar wjechac">_MyNextSquare</a>.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a>&lt;&lt;<span class="stringliteral">&quot; &quot;</span>&lt;&lt;<a class="code" href="classAgent.html#a41335bf2fd1fe065f82c3409927d8738" title="kwadrat na ktory agent ma zamiar wjechac">_MyNextSquare</a>.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a>&lt;&lt;endl;
<a name="l00067"></a>00067                         <span class="comment">//sleep(3);</span>
<a name="l00068"></a>00068                         <a class="code" href="classAgent.html#a53941d002024f35cc7b9f202896746bf" title="status agenta">_MyStatus</a>=Moving;
<a name="l00069"></a>00069 
<a name="l00070"></a>00070                 }
<a name="l00071"></a>00071                 cout&lt;&lt;<span class="stringliteral">&quot;Actual TIme:&quot;</span>&lt;&lt;<a class="code" href="classAgent.html#a569b980937fe959673a4e6010866afe7" title="zegar agenta pozwalajacy na odniesienie do rzeczywistego czasu symulacji">_MyClock</a>.<a class="code" href="classClock.html#a14ea1f48a24417870bfd5fc0153d140d">GiveActualTime</a>()&lt;&lt;endl;
<a name="l00072"></a>00072                 <a class="code" href="GnuplotInc_8cpp.html#a23f4194eff7b71282f0d0278fd0834e5">PlotScene</a>(5,3,<a class="code" href="classAgent.html#a4ad85b810d47200d82a3e8445e222bc2" title="Numer ID agenta bedacy rowniez priorytetem agenta.">_MyID</a>);
<a name="l00073"></a>00073         }
<a name="l00074"></a>00074         <a class="code" href="GnuplotInc_8cpp.html#a23f4194eff7b71282f0d0278fd0834e5">PlotScene</a>(5,3,<a class="code" href="classAgent.html#a4ad85b810d47200d82a3e8445e222bc2" title="Numer ID agenta bedacy rowniez priorytetem agenta.">_MyID</a>);
<a name="l00075"></a>00075 
<a name="l00076"></a>00076 }
<a name="l00077"></a>00077 
<a name="l00078"></a><a class="code" href="classAgent.html#a141897370601ada8da1358b303d2e1e7">00078</a> <a class="code" href="classAgent.html#ae8c51ce6dc1b881ac5ef5f876253646e" title="Typ wyliczeniowy opisujacy status agenta.">Agent::Status</a> <a class="code" href="classAgent.html#a141897370601ada8da1358b303d2e1e7" title="Funkcja wykonująca ruch agenta zgodnie z zaplanowana sciezka.">Agent::Move</a>()
<a name="l00079"></a>00079 {
<a name="l00080"></a>00080         <span class="keywordtype">double</span> FinalX,FinalY,timeToCrossSqare,timeToLeaveSqare;
<a name="l00081"></a>00081         <span class="keywordtype">double</span> EstimatedTimeToEndX,EstimatedTimeToEndY,EstimatedTimeToEnd;
<a name="l00082"></a>00082         <a class="code" href="classAgent.html#ae8c51ce6dc1b881ac5ef5f876253646e" title="Typ wyliczeniowy opisujacy status agenta.">Status</a> ActualStatus=<a class="code" href="classAgent.html#a53941d002024f35cc7b9f202896746bf" title="status agenta">_MyStatus</a>;
<a name="l00083"></a>00083         <span class="keywordtype">int</span> ModX,ModY;
<a name="l00084"></a>00084 <span class="keywordflow">if</span>((<a class="code" href="classAgent.html#a53941d002024f35cc7b9f202896746bf" title="status agenta">_MyStatus</a>!=<a class="code" href="classAgent.html#ae8c51ce6dc1b881ac5ef5f876253646ea04bc7dc369d05d9d1dab116c4f4ad504">WaitingToEnterSquare</a>)&amp;&amp;(<a class="code" href="classAgent.html#a53941d002024f35cc7b9f202896746bf" title="status agenta">_MyStatus</a>!=<a class="code" href="classAgent.html#ae8c51ce6dc1b881ac5ef5f876253646ea58292f478559f744879e700594b1e95c">WaitingToBypass</a>)){
<a name="l00085"></a>00085 
<a name="l00086"></a>00086         <a class="code" href="classAgent.html#a0da83836e6986f53455d1f8663d999c7" title="kwadrat w ktorym obecnie znajduje sie agent">_MySquare</a>=<a class="code" href="classAgent.html#a1aab1eb9d67e80350290da71cfecb729" title="Funkcja zamienia wspolrzedne globalne na wspolrzedne kwadratu w ktorym znajduje sie agent...">CoordinatesToSquare</a>(<a class="code" href="classAgent.html#aefb96a00785fe32c6e856160485f0aab" title="globalna pozycja agenta">_ActualPosition</a>, <a class="code" href="classAgent.html#ad8e89284dfa2c9d4019b29ebd4944c6d" title="dlugosc boku kwadratu bedacy sektorem w srodowisku symulatora">_SquareLength</a>);
<a name="l00087"></a>00087 
<a name="l00088"></a>00088         <span class="keywordflow">if</span>(<a class="code" href="classAgent.html#a53941d002024f35cc7b9f202896746bf" title="status agenta">_MyStatus</a>==<a class="code" href="classAgent.html#ae8c51ce6dc1b881ac5ef5f876253646ea8dff8ff6069589f7671320cb224f31fd">LeavingSquare</a>){
<a name="l00089"></a>00089 
<a name="l00090"></a>00090         <a class="code" href="classAgent.html#a53941d002024f35cc7b9f202896746bf" title="status agenta">_MyStatus</a>=Moving;
<a name="l00091"></a>00091         }
<a name="l00092"></a>00092         <span class="comment">//poruszanie sie</span>
<a name="l00093"></a>00093         list&lt;Segment&gt;::iterator ListIter=<a class="code" href="classAgent.html#ad2120cdac7ca4094490755d0aca36aed" title="lista odcinkow w trasie agenta">_ListOfSegments</a>.begin();
<a name="l00094"></a>00094         <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i=0;i&lt;<a class="code" href="classAgent.html#a9d03ca9b7af5b26503a75213c8601abd" title="aktualnie realizowany odcinek trasy">_SegmentNo</a>;i++)
<a name="l00095"></a>00095                 <span class="keywordflow">if</span>(ListIter!=<a class="code" href="classAgent.html#ad2120cdac7ca4094490755d0aca36aed" title="lista odcinkow w trasie agenta">_ListOfSegments</a>.end())
<a name="l00096"></a>00096                         ListIter++;
<a name="l00097"></a>00097                 <span class="keywordflow">else</span>{
<a name="l00098"></a>00098                         cerr&lt;&lt;<span class="stringliteral">&quot;Blad liczba segmentow wieksza niz rzeczywisty rozmiar listy!&quot;</span>&lt;&lt;endl;
<a name="l00099"></a>00099                 exit(1);
<a name="l00100"></a>00100                 }
<a name="l00101"></a>00101         timeToCrossSqare=<a class="code" href="classAgent.html#a886c0bc4f842f053fd88de10c9f8d55f" title="Funkcja zwraca czas do momentu wkroczenia na sasiedni kwadrat.">GiveTimeToCrossSquare</a>(ListIter,ModX,ModY);
<a name="l00102"></a>00102         timeToLeaveSqare=<a class="code" href="classAgent.html#a247de793fdc9c285b9a0289bc8022b94" title="Funkcja zwraca czas do momentu calkowitego opuszczenia kwadratu.">GiveTimeToLeaveSquare</a>(ListIter);
<a name="l00103"></a>00103 <span class="keywordflow">if</span>((timeToCrossSqare&lt;<a class="code" href="classAgent.html#a569b980937fe959673a4e6010866afe7" title="zegar agenta pozwalajacy na odniesienie do rzeczywistego czasu symulacji">_MyClock</a>.<a class="code" href="classClock.html#a2e4a260fdffd1362d5a3e9b44059b907">GiveTimeStep</a>()) &amp;&amp;(timeToCrossSqare&gt;0.0)){
<a name="l00104"></a>00104         FinalX=ListIter-&gt;_XParamA*timeToCrossSqare+ListIter-&gt;_XParamB;
<a name="l00105"></a>00105         FinalY=ListIter-&gt;_YParamA*timeToCrossSqare+ListIter-&gt;_YParamB;
<a name="l00106"></a>00106         <a class="code" href="classAgent.html#aefb96a00785fe32c6e856160485f0aab" title="globalna pozycja agenta">_ActualPosition</a>=<a class="code" href="classCoordinates.html">Coordinates</a>(FinalX,FinalY);
<a name="l00107"></a>00107 
<a name="l00108"></a>00108 
<a name="l00109"></a>00109         <span class="comment">//ustalanie wspolrzednych kolejnego kwadratu</span>
<a name="l00110"></a>00110         <a class="code" href="classAgent.html#a41335bf2fd1fe065f82c3409927d8738" title="kwadrat na ktory agent ma zamiar wjechac">_MyNextSquare</a>+=<a class="code" href="classCoordinates.html">Coordinates</a>(ModX,ModY);
<a name="l00111"></a>00111         <span class="comment">//zmiana statusu</span>
<a name="l00112"></a>00112         <a class="code" href="classAgent.html#a53941d002024f35cc7b9f202896746bf" title="status agenta">_MyStatus</a>=ActualStatus=WaitingToEnterSquare;
<a name="l00113"></a>00113 }<span class="keywordflow">else</span> <span class="keywordflow">if</span>((timeToLeaveSqare&lt;<a class="code" href="classAgent.html#a569b980937fe959673a4e6010866afe7" title="zegar agenta pozwalajacy na odniesienie do rzeczywistego czasu symulacji">_MyClock</a>.<a class="code" href="classClock.html#a2e4a260fdffd1362d5a3e9b44059b907">GiveTimeStep</a>()) &amp;&amp;(timeToLeaveSqare&gt;0.0)){
<a name="l00114"></a>00114         FinalX=ListIter-&gt;_XParamA*timeToLeaveSqare+ListIter-&gt;_XParamB;
<a name="l00115"></a>00115         FinalY=ListIter-&gt;_YParamA*timeToLeaveSqare+ListIter-&gt;_YParamB;
<a name="l00116"></a>00116         <a class="code" href="classAgent.html#aefb96a00785fe32c6e856160485f0aab" title="globalna pozycja agenta">_ActualPosition</a>=<a class="code" href="classCoordinates.html">Coordinates</a>(FinalX,FinalY);
<a name="l00117"></a>00117         <span class="comment">//zwolnienie kwadratu</span>
<a name="l00118"></a>00118         <span class="comment">//Jakas funkcja interakcji</span>
<a name="l00119"></a>00119         <a class="code" href="classAgent.html#a1a31e1da3a9e6abaa9225fe0759b5d2c">DoSthWhenIAmLeavingSquare</a>();
<a name="l00120"></a>00120 <span class="keywordflow">if</span>(<a class="code" href="classAgent.html#a0da83836e6986f53455d1f8663d999c7" title="kwadrat w ktorym obecnie znajduje sie agent">_MySquare</a>!=<a class="code" href="classAgent.html#a41335bf2fd1fe065f82c3409927d8738" title="kwadrat na ktory agent ma zamiar wjechac">_MyNextSquare</a>)<span class="comment">//sytuacja w ktorej agent tylko na chwile, czescia</span>
<a name="l00121"></a>00121         <span class="comment">//wjezdza na kwadrat</span>
<a name="l00122"></a>00122         <a class="code" href="classAgent.html#a41335bf2fd1fe065f82c3409927d8738" title="kwadrat na ktory agent ma zamiar wjechac">_MyNextSquare</a>=<a class="code" href="classAgent.html#a0da83836e6986f53455d1f8663d999c7" title="kwadrat w ktorym obecnie znajduje sie agent">_MySquare</a>;
<a name="l00123"></a>00123 
<a name="l00124"></a>00124         <a class="code" href="classAgent.html#a53941d002024f35cc7b9f202896746bf" title="status agenta">_MyStatus</a>=ActualStatus=LeavingSquare;
<a name="l00125"></a>00125 }<span class="keywordflow">else</span>{
<a name="l00126"></a>00126 <span class="keywordflow">if</span>(ListIter-&gt;_XParamA!=0.0)
<a name="l00127"></a>00127         EstimatedTimeToEndX=
<a name="l00128"></a>00128                 (ListIter-&gt;_End._x-ListIter-&gt;_XParamB)/ListIter-&gt;_XParamA;
<a name="l00129"></a>00129 <span class="keywordflow">else</span>
<a name="l00130"></a>00130         EstimatedTimeToEndX=0;
<a name="l00131"></a>00131 
<a name="l00132"></a>00132 <span class="keywordflow">if</span>(ListIter-&gt;_YParamA!=0.0)
<a name="l00133"></a>00133         EstimatedTimeToEndY=
<a name="l00134"></a>00134                 (ListIter-&gt;_End._y-ListIter-&gt;_YParamB)/ListIter-&gt;_YParamA;
<a name="l00135"></a>00135 <span class="keywordflow">else</span>
<a name="l00136"></a>00136         EstimatedTimeToEndY=0;
<a name="l00137"></a>00137 
<a name="l00138"></a>00138         EstimatedTimeToEnd=EstimatedTimeToEndX &gt; EstimatedTimeToEndY ? EstimatedTimeToEndX : EstimatedTimeToEndY;
<a name="l00139"></a>00139 
<a name="l00140"></a>00140         <span class="comment">//sprawdzanie czy dotarl do punktu koncowego</span>
<a name="l00141"></a>00141         <span class="keywordflow">if</span>(EstimatedTimeToEnd&lt;<a class="code" href="classAgent.html#a569b980937fe959673a4e6010866afe7" title="zegar agenta pozwalajacy na odniesienie do rzeczywistego czasu symulacji">_MyClock</a>.<a class="code" href="classClock.html#a2e4a260fdffd1362d5a3e9b44059b907">GiveTimeStep</a>()){
<a name="l00142"></a>00142                 <a class="code" href="classAgent.html#aefb96a00785fe32c6e856160485f0aab" title="globalna pozycja agenta">_ActualPosition</a>=ListIter-&gt;_End;
<a name="l00143"></a>00143                 _SegmentNo++;
<a name="l00144"></a>00144                 <span class="comment">//Jezeli cala sciezka</span>
<a name="l00145"></a>00145                 <span class="keywordflow">if</span>(_SegmentNo&gt;=<a class="code" href="classAgent.html#ad2120cdac7ca4094490755d0aca36aed" title="lista odcinkow w trasie agenta">_ListOfSegments</a>.size())
<a name="l00146"></a>00146                 <a class="code" href="classAgent.html#ad7b052e72604807dfadac10d28b4ef86" title="flaga trasy TRUE - trasa ukonczona, FALSE - odwrotnie">_PathDone</a>=<span class="keyword">true</span>;
<a name="l00147"></a>00147         }<span class="keywordflow">else</span>{
<a name="l00148"></a>00148 
<a name="l00149"></a>00149         FinalX=ListIter-&gt;_XParamA*<a class="code" href="classAgent.html#a569b980937fe959673a4e6010866afe7" title="zegar agenta pozwalajacy na odniesienie do rzeczywistego czasu symulacji">_MyClock</a>.<a class="code" href="classClock.html#a2e4a260fdffd1362d5a3e9b44059b907">GiveTimeStep</a>()+ListIter-&gt;_XParamB;
<a name="l00150"></a>00150         FinalY=ListIter-&gt;_YParamA*<a class="code" href="classAgent.html#a569b980937fe959673a4e6010866afe7" title="zegar agenta pozwalajacy na odniesienie do rzeczywistego czasu symulacji">_MyClock</a>.<a class="code" href="classClock.html#a2e4a260fdffd1362d5a3e9b44059b907">GiveTimeStep</a>()+ListIter-&gt;_YParamB;
<a name="l00151"></a>00151         <a class="code" href="classAgent.html#aefb96a00785fe32c6e856160485f0aab" title="globalna pozycja agenta">_ActualPosition</a>=<a class="code" href="classCoordinates.html">Coordinates</a>(FinalX,FinalY);
<a name="l00152"></a>00152         }
<a name="l00153"></a>00153         <a class="code" href="classAgent.html#a53941d002024f35cc7b9f202896746bf" title="status agenta">_MyStatus</a>=ActualStatus=Moving;
<a name="l00154"></a>00154 }
<a name="l00155"></a>00155         ListIter-&gt;_XParamB=<a class="code" href="classAgent.html#aefb96a00785fe32c6e856160485f0aab" title="globalna pozycja agenta">_ActualPosition</a>.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a>;
<a name="l00156"></a>00156         ListIter-&gt;_YParamB=<a class="code" href="classAgent.html#aefb96a00785fe32c6e856160485f0aab" title="globalna pozycja agenta">_ActualPosition</a>.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a>;
<a name="l00157"></a>00157 
<a name="l00158"></a>00158         <a class="code" href="classAgent.html#a51bc5c497653779725fc4c2f6dfee888" title="Procedura zapisuje aktualną pozycje agenta di pliku Agent(ID).dat.">DropActualPosition</a>();
<a name="l00159"></a>00159 
<a name="l00160"></a>00160 }<span class="keywordflow">else</span>{
<a name="l00161"></a>00161         <span class="comment">//waiting</span>
<a name="l00162"></a>00162 <span class="comment">//Jakas funkcja interakcji</span>
<a name="l00163"></a>00163         <a class="code" href="classAgent.html#ad3b5374997fe013a5ec059a737f590f2">DoSthWhenIAmWaitingToEnterSquare</a>();
<a name="l00164"></a>00164 }
<a name="l00165"></a>00165 <span class="keywordflow">return</span> ActualStatus;
<a name="l00166"></a>00166 }
<a name="l00167"></a>00167 
<a name="l00168"></a><a class="code" href="classAgent.html#a886c0bc4f842f053fd88de10c9f8d55f">00168</a> <span class="keywordtype">double</span> <a class="code" href="classAgent.html#a886c0bc4f842f053fd88de10c9f8d55f" title="Funkcja zwraca czas do momentu wkroczenia na sasiedni kwadrat.">Agent::GiveTimeToCrossSquare</a>(std::list&lt;Segment&gt;::iterator ListIter,<span class="keywordtype">int</span> &amp; ModX,<span class="keywordtype">int</span>&amp; ModY)
<a name="l00169"></a>00169 {
<a name="l00170"></a>00170         <span class="keywordtype">double</span> SquareX,SquareY,LocalStartX,LocalStartY,time1,time2,time3,time4;
<a name="l00171"></a>00171         <span class="comment">//przeliczanie wspolrzednych do ukladu zwiazanego z kwadratem</span>
<a name="l00172"></a>00172         SquareX=floor(<a class="code" href="classAgent.html#aefb96a00785fe32c6e856160485f0aab" title="globalna pozycja agenta">_ActualPosition</a>.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a> / <a class="code" href="classAgent.html#ad8e89284dfa2c9d4019b29ebd4944c6d" title="dlugosc boku kwadratu bedacy sektorem w srodowisku symulatora">_SquareLength</a>);
<a name="l00173"></a>00173         SquareY=floor(<a class="code" href="classAgent.html#aefb96a00785fe32c6e856160485f0aab" title="globalna pozycja agenta">_ActualPosition</a>.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a> / <a class="code" href="classAgent.html#ad8e89284dfa2c9d4019b29ebd4944c6d" title="dlugosc boku kwadratu bedacy sektorem w srodowisku symulatora">_SquareLength</a>);
<a name="l00174"></a>00174         LocalStartX=<a class="code" href="classAgent.html#aefb96a00785fe32c6e856160485f0aab" title="globalna pozycja agenta">_ActualPosition</a>.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a> - SquareX*<a class="code" href="classAgent.html#ad8e89284dfa2c9d4019b29ebd4944c6d" title="dlugosc boku kwadratu bedacy sektorem w srodowisku symulatora">_SquareLength</a>;
<a name="l00175"></a>00175         LocalStartY=<a class="code" href="classAgent.html#aefb96a00785fe32c6e856160485f0aab" title="globalna pozycja agenta">_ActualPosition</a>.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a> - SquareY*_SquareLength;
<a name="l00176"></a>00176         ModX=ModY=0;
<a name="l00177"></a>00177         <span class="keywordflow">if</span>(ListIter-&gt;_XParamA!=0.0){
<a name="l00178"></a>00178                 time1=(_SquareLength-<a class="code" href="classAgent.html#ae1a82c0ae07e9d430411e681542b3852" title="promien agenta (agent jest kolem)">_MyRadius</a>-LocalStartX)/ListIter-&gt;_XParamA;
<a name="l00179"></a>00179                 time2=(<a class="code" href="classAgent.html#ae1a82c0ae07e9d430411e681542b3852" title="promien agenta (agent jest kolem)">_MyRadius</a>-LocalStartX)/ListIter-&gt;_XParamA;
<a name="l00180"></a>00180                 ModX=time1&gt;time2? 1: -1;
<a name="l00181"></a>00181                 time1=time1&gt;time2? time1 : time2;
<a name="l00182"></a>00182         }<span class="keywordflow">else</span>
<a name="l00183"></a>00183                 time1=-1.0;
<a name="l00184"></a>00184 
<a name="l00185"></a>00185         <span class="keywordflow">if</span>(ListIter-&gt;_YParamA!=0.0){
<a name="l00186"></a>00186                 time3=(_SquareLength-<a class="code" href="classAgent.html#ae1a82c0ae07e9d430411e681542b3852" title="promien agenta (agent jest kolem)">_MyRadius</a>-LocalStartY)/ListIter-&gt;_YParamA;
<a name="l00187"></a>00187                 time4=(<a class="code" href="classAgent.html#ae1a82c0ae07e9d430411e681542b3852" title="promien agenta (agent jest kolem)">_MyRadius</a>-LocalStartY)/ListIter-&gt;_YParamA;
<a name="l00188"></a>00188                 ModY=time3&gt;time4? 1: -1;
<a name="l00189"></a>00189                 time3=time3&gt;time4? time3 : time4;
<a name="l00190"></a>00190 
<a name="l00191"></a>00191         }<span class="keywordflow">else</span>
<a name="l00192"></a>00192                 time3=-1.0;
<a name="l00193"></a>00193 <span class="keywordflow">if</span>((time1&gt;0.0)&amp;&amp;(time3&gt;0.0)){
<a name="l00194"></a>00194         <span class="keywordflow">if</span>(time1 &lt; time3)
<a name="l00195"></a>00195                 ModY=0;
<a name="l00196"></a>00196         <span class="keywordflow">else</span>
<a name="l00197"></a>00197                 ModX=0;
<a name="l00198"></a>00198         <span class="keywordflow">return</span> time1 &lt; time3 ? time1 : time3;
<a name="l00199"></a>00199 }<span class="keywordflow">else</span> <span class="keywordflow">if</span>(time1&gt;0.0){
<a name="l00200"></a>00200         ModY=0;
<a name="l00201"></a>00201         <span class="keywordflow">return</span> time1;
<a name="l00202"></a>00202 }<span class="keywordflow">else</span> <span class="keywordflow">if</span>(time3&gt;0.0){
<a name="l00203"></a>00203         ModX=0;
<a name="l00204"></a>00204         <span class="keywordflow">return</span> time3;
<a name="l00205"></a>00205 }<span class="keywordflow">else</span> <span class="keywordflow">return</span> 0.0;
<a name="l00206"></a>00206 
<a name="l00207"></a>00207 
<a name="l00208"></a>00208 
<a name="l00209"></a>00209 }
<a name="l00210"></a>00210 
<a name="l00211"></a><a class="code" href="classAgent.html#a247de793fdc9c285b9a0289bc8022b94">00211</a> <span class="keywordtype">double</span> <a class="code" href="classAgent.html#a247de793fdc9c285b9a0289bc8022b94" title="Funkcja zwraca czas do momentu calkowitego opuszczenia kwadratu.">Agent::GiveTimeToLeaveSquare</a>(std::list&lt;Segment&gt;::iterator ListIter)
<a name="l00212"></a>00212 {
<a name="l00213"></a>00213         <span class="keywordtype">double</span> SquareX,SquareY,LocalStartX,LocalStartY,time1,time2,time3,time4;
<a name="l00214"></a>00214         <span class="comment">//przeliczanie wspolrzednych do ukladu zwiazanego z kwadratem</span>
<a name="l00215"></a>00215         SquareX=floor(<a class="code" href="classAgent.html#aefb96a00785fe32c6e856160485f0aab" title="globalna pozycja agenta">_ActualPosition</a>.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a> / <a class="code" href="classAgent.html#ad8e89284dfa2c9d4019b29ebd4944c6d" title="dlugosc boku kwadratu bedacy sektorem w srodowisku symulatora">_SquareLength</a>);
<a name="l00216"></a>00216         SquareY=floor(<a class="code" href="classAgent.html#aefb96a00785fe32c6e856160485f0aab" title="globalna pozycja agenta">_ActualPosition</a>.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a> / <a class="code" href="classAgent.html#ad8e89284dfa2c9d4019b29ebd4944c6d" title="dlugosc boku kwadratu bedacy sektorem w srodowisku symulatora">_SquareLength</a>);
<a name="l00217"></a>00217         LocalStartX=<a class="code" href="classAgent.html#aefb96a00785fe32c6e856160485f0aab" title="globalna pozycja agenta">_ActualPosition</a>.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a> - SquareX*<a class="code" href="classAgent.html#ad8e89284dfa2c9d4019b29ebd4944c6d" title="dlugosc boku kwadratu bedacy sektorem w srodowisku symulatora">_SquareLength</a>;
<a name="l00218"></a>00218         LocalStartY=<a class="code" href="classAgent.html#aefb96a00785fe32c6e856160485f0aab" title="globalna pozycja agenta">_ActualPosition</a>.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a> - SquareY*_SquareLength;
<a name="l00219"></a>00219         <span class="keywordflow">if</span>(ListIter-&gt;_XParamA!=0.0){
<a name="l00220"></a>00220                 time1=(_SquareLength-<a class="code" href="classAgent.html#ae1a82c0ae07e9d430411e681542b3852" title="promien agenta (agent jest kolem)">_MyRadius</a>-LocalStartX)/ListIter-&gt;_XParamA;
<a name="l00221"></a>00221                 time2=(<a class="code" href="classAgent.html#ae1a82c0ae07e9d430411e681542b3852" title="promien agenta (agent jest kolem)">_MyRadius</a>-LocalStartX)/ListIter-&gt;_XParamA;
<a name="l00222"></a>00222 
<a name="l00223"></a>00223                 time1=time1&lt;time2? time1 : time2;
<a name="l00224"></a>00224         }<span class="keywordflow">else</span>
<a name="l00225"></a>00225                 time1=-1.0;
<a name="l00226"></a>00226 
<a name="l00227"></a>00227         <span class="keywordflow">if</span>(ListIter-&gt;_YParamA!=0.0){
<a name="l00228"></a>00228                 time3=(_SquareLength-<a class="code" href="classAgent.html#ae1a82c0ae07e9d430411e681542b3852" title="promien agenta (agent jest kolem)">_MyRadius</a>-LocalStartY)/ListIter-&gt;_YParamA;
<a name="l00229"></a>00229                 time4=(<a class="code" href="classAgent.html#ae1a82c0ae07e9d430411e681542b3852" title="promien agenta (agent jest kolem)">_MyRadius</a>-LocalStartY)/ListIter-&gt;_YParamA;
<a name="l00230"></a>00230 
<a name="l00231"></a>00231                 time3=time3&lt;time4? time3 : time4;
<a name="l00232"></a>00232 
<a name="l00233"></a>00233         }<span class="keywordflow">else</span>
<a name="l00234"></a>00234                 time3=-1.0;
<a name="l00235"></a>00235 <span class="keywordflow">if</span>((time1&gt;0.0)&amp;&amp;(time3&gt;0.0))
<a name="l00236"></a>00236         <span class="keywordflow">return</span> time1 &lt; time3 ? time1 : time3;
<a name="l00237"></a>00237 <span class="keywordflow">else</span> <span class="keywordflow">if</span>(time1&gt;0.0)
<a name="l00238"></a>00238         <span class="keywordflow">return</span> time1;
<a name="l00239"></a>00239 <span class="keywordflow">else</span> <span class="keywordflow">if</span>(time3&gt;0.0)
<a name="l00240"></a>00240         <span class="keywordflow">return</span> time3;
<a name="l00241"></a>00241 <span class="keywordflow">else</span> <span class="keywordflow">return</span> 0.0;
<a name="l00242"></a>00242 
<a name="l00243"></a>00243 
<a name="l00244"></a>00244 
<a name="l00245"></a>00245 }
<a name="l00246"></a>00246 list&lt;Segment&gt; <a class="code" href="classAgent.html#a5d4e48e7d966f940c1935817ffb63b9f" title="Funkcja modyfikuje wejsciowa trase agenta tak aby omijala wierzcholki kwadratowych sektorów...">Agent::ResolveForbiddenSectors</a>(list&lt;Segment&gt; ListOfSegments)
<a name="l00247"></a>00247 {
<a name="l00248"></a>00248         <span class="keywordtype">double</span> InTime=0,OutTime=0,TempTime=0,SquareX,SquareY;
<a name="l00249"></a>00249         <span class="keywordtype">double</span> LocalStartX=0,LocalStartY=0,LocalEndX=0,LocalEndY=0;
<a name="l00250"></a>00250         <span class="keywordtype">double</span> InX,InY,OutX,OutY;
<a name="l00251"></a>00251         <span class="keywordtype">double</span> a,b,c,xO,yO;
<a name="l00252"></a>00252         <span class="keywordtype">double</span> r=<a class="code" href="classAgent.html#ae1a82c0ae07e9d430411e681542b3852" title="promien agenta (agent jest kolem)">_MyRadius</a>*sqrt(2);
<a name="l00253"></a>00253         <span class="keywordtype">bool</span> ColisionFound=<span class="keyword">false</span>,SquareResolved=<span class="keyword">false</span>,EndOfSegInCircle=<span class="keyword">false</span>;
<a name="l00254"></a>00254         <span class="keywordtype">bool</span> OnlyInPoint=<span class="keyword">false</span>;
<a name="l00255"></a>00255         <span class="keywordtype">int</span> NumOfRoots=0,CornerIter=0;
<a name="l00256"></a>00256         <a class="code" href="classCoordinates.html">Coordinates</a> ActualPos,ActualPosNext;
<a name="l00257"></a>00257         list&lt;Segment&gt; ResultListOfSegments;
<a name="l00258"></a>00258         list&lt;Segment&gt; TempListOfSegments;
<a name="l00259"></a>00259         list&lt;Segment&gt;::iterator IteratorForLastElement;
<a name="l00260"></a>00260 <span class="comment">//dla kazdego segmentu sprawdzamy czy przechodzi przez &quot;zakazane&quot; KOLA</span>
<a name="l00261"></a>00261         list&lt;Segment&gt;::iterator ListIter=ListOfSegments.begin();
<a name="l00262"></a>00262         <span class="keywordflow">for</span>(;ListIter!=ListOfSegments.end();ListIter++){
<a name="l00263"></a>00263                 ActualPos=ListIter-&gt;_Start;
<a name="l00264"></a>00264 
<a name="l00265"></a>00265 <span class="keywordflow">while</span>(ActualPos!=ListIter-&gt;_End){
<a name="l00266"></a>00266 <span class="comment">//w kazdym kwadracie przechodzimy do lokalnego ukladu wspolrzednych kwadratu</span>
<a name="l00267"></a>00267         SquareResolved=<span class="keyword">false</span>;
<a name="l00268"></a>00268         ColisionFound=<span class="keyword">false</span>;
<a name="l00269"></a>00269         EndOfSegInCircle=<span class="keyword">false</span>;
<a name="l00270"></a>00270         OnlyInPoint=<span class="keyword">false</span>;
<a name="l00271"></a>00271         CornerIter=0;
<a name="l00272"></a>00272         TempListOfSegments.clear();
<a name="l00273"></a>00273         SquareX=floor(ActualPos.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a> / <a class="code" href="classAgent.html#ad8e89284dfa2c9d4019b29ebd4944c6d" title="dlugosc boku kwadratu bedacy sektorem w srodowisku symulatora">_SquareLength</a>);
<a name="l00274"></a>00274         <span class="keywordflow">if</span>((ActualPos.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a> / <a class="code" href="classAgent.html#ad8e89284dfa2c9d4019b29ebd4944c6d" title="dlugosc boku kwadratu bedacy sektorem w srodowisku symulatora">_SquareLength</a>)==SquareX)<span class="comment">//jezeli na granicy kwadratow</span>
<a name="l00275"></a>00275                 <span class="keywordflow">if</span>(ListIter-&gt;_XParamA&lt;0)<span class="comment">//jezeli pochodna ujemna</span>
<a name="l00276"></a>00276                         SquareX--;
<a name="l00277"></a>00277 
<a name="l00278"></a>00278         SquareY=floor(ActualPos.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a> / <a class="code" href="classAgent.html#ad8e89284dfa2c9d4019b29ebd4944c6d" title="dlugosc boku kwadratu bedacy sektorem w srodowisku symulatora">_SquareLength</a>);
<a name="l00279"></a>00279         <span class="keywordflow">if</span>((ActualPos.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a> / <a class="code" href="classAgent.html#ad8e89284dfa2c9d4019b29ebd4944c6d" title="dlugosc boku kwadratu bedacy sektorem w srodowisku symulatora">_SquareLength</a>)==SquareY)<span class="comment">//jezeli na granicy kwadratow</span>
<a name="l00280"></a>00280                 <span class="keywordflow">if</span>(ListIter-&gt;_YParamA&lt;0)<span class="comment">//jezeli pochodna ujemna</span>
<a name="l00281"></a>00281                         SquareY--;
<a name="l00282"></a>00282 
<a name="l00283"></a>00283         LocalStartX=ActualPos.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a> - SquareX*<a class="code" href="classAgent.html#ad8e89284dfa2c9d4019b29ebd4944c6d" title="dlugosc boku kwadratu bedacy sektorem w srodowisku symulatora">_SquareLength</a>;
<a name="l00284"></a>00284         LocalStartY=ActualPos.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a> - SquareY*_SquareLength;
<a name="l00285"></a>00285         LocalEndX=ListIter-&gt;_End._x - SquareX*_SquareLength;
<a name="l00286"></a>00286         LocalEndY=ListIter-&gt;_End._y - SquareY*_SquareLength;
<a name="l00287"></a>00287 
<a name="l00288"></a>00288 
<a name="l00289"></a>00289         <span class="comment">//TODO uwzglednic przypadki rozne</span>
<a name="l00290"></a>00290         <span class="comment">//poczatek w zakazanym kole</span>
<a name="l00291"></a>00291         <span class="keywordflow">while</span>((!ColisionFound)&amp;&amp;(CornerIter&lt;4)){
<a name="l00292"></a>00292                 <span class="keywordflow">switch</span>(CornerIter){
<a name="l00293"></a>00293                 <span class="keywordflow">case</span> 0:
<a name="l00294"></a>00294                         xO=_SquareLength;
<a name="l00295"></a>00295                         yO=_SquareLength;
<a name="l00296"></a>00296                         <span class="keywordflow">break</span>;
<a name="l00297"></a>00297                 <span class="keywordflow">case</span> 1:
<a name="l00298"></a>00298                         xO=0;
<a name="l00299"></a>00299                         yO=_SquareLength;
<a name="l00300"></a>00300                         <span class="keywordflow">break</span>;
<a name="l00301"></a>00301                 <span class="keywordflow">case</span> 2:
<a name="l00302"></a>00302                         xO=_SquareLength;
<a name="l00303"></a>00303                         yO=0;
<a name="l00304"></a>00304                         <span class="keywordflow">break</span>;
<a name="l00305"></a>00305                 <span class="keywordflow">case</span> 3:
<a name="l00306"></a>00306                         xO=0;
<a name="l00307"></a>00307                         yO=0;
<a name="l00308"></a>00308                         <span class="keywordflow">break</span>;
<a name="l00309"></a>00309                 }
<a name="l00310"></a>00310 
<a name="l00311"></a>00311         <span class="keywordflow">if</span>(sqrt(pow(xO-LocalStartX,2.0)+pow(yO-LocalStartY,2.0))&lt;r){<span class="comment">//NE</span>
<a name="l00312"></a>00312 
<a name="l00313"></a>00313                 <a class="code" href="classAgent.html#a2a709195dc58a13aecee4b5639c3875b" title="Funkcja obliczajaca czas do wjazdu i wyjazdu z okregu o srodku w wierzcholku kwadratu.">CalculateCollisionPoints</a>(*ListIter,r, <a class="code" href="classCoordinates.html">Coordinates</a>(LocalStartX,LocalStartY),<a class="code" href="classCoordinates.html">Coordinates</a>(xO,yO),InTime,OutTime);
<a name="l00314"></a>00314                 <span class="keywordflow">if</span>((OutTime&lt;0))
<a name="l00315"></a>00315                         OutTime=InTime;
<a name="l00316"></a>00316 
<a name="l00317"></a>00317                 LocalStartX=ListIter-&gt;_XParamA*OutTime+LocalStartX;
<a name="l00318"></a>00318                 LocalStartY=ListIter-&gt;_YParamA*OutTime+LocalStartY;
<a name="l00319"></a>00319                 ActualPos.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a>=ListIter-&gt;_XParamB=ListIter-&gt;_Start._x=LocalStartX+SquareX*_SquareLength;
<a name="l00320"></a>00320                 ActualPos.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a>=ListIter-&gt;_YParamB=ListIter-&gt;_Start._y=LocalStartY+SquareY*_SquareLength;
<a name="l00321"></a>00321                 ColisionFound=<span class="keyword">true</span>;
<a name="l00322"></a>00322         }
<a name="l00323"></a>00323         CornerIter++;
<a name="l00324"></a>00324         }
<a name="l00325"></a>00325         ColisionFound=<span class="keyword">false</span>;
<a name="l00326"></a>00326         CornerIter=0;
<a name="l00327"></a>00327         <span class="keywordflow">while</span>((!ColisionFound)&amp;&amp;(CornerIter&lt;4)){
<a name="l00328"></a>00328                 <span class="keywordflow">switch</span>(CornerIter){
<a name="l00329"></a>00329                 <span class="keywordflow">case</span> 0:
<a name="l00330"></a>00330                         xO=_SquareLength;
<a name="l00331"></a>00331                         yO=_SquareLength;
<a name="l00332"></a>00332                         <span class="keywordflow">break</span>;
<a name="l00333"></a>00333                 <span class="keywordflow">case</span> 1:
<a name="l00334"></a>00334                         xO=0;
<a name="l00335"></a>00335                         yO=_SquareLength;
<a name="l00336"></a>00336                         <span class="keywordflow">break</span>;
<a name="l00337"></a>00337                 <span class="keywordflow">case</span> 2:
<a name="l00338"></a>00338                         xO=_SquareLength;
<a name="l00339"></a>00339                         yO=0;
<a name="l00340"></a>00340                         <span class="keywordflow">break</span>;
<a name="l00341"></a>00341                 <span class="keywordflow">case</span> 3:
<a name="l00342"></a>00342                         xO=0;
<a name="l00343"></a>00343                         yO=0;
<a name="l00344"></a>00344                         <span class="keywordflow">break</span>;
<a name="l00345"></a>00345                 }
<a name="l00346"></a>00346         <span class="comment">//koniec w zakazanym kole</span>
<a name="l00347"></a>00347 <span class="keywordflow">if</span>(sqrt(pow(xO-LocalEndX,2.0)+pow(yO-LocalEndY,2.0))&lt;r){<span class="comment">//NE</span>
<a name="l00348"></a>00348         ColisionFound=<span class="keyword">true</span>;
<a name="l00349"></a>00349 <span class="comment">//szukanie punktu wejscia na zakazany okrag</span>
<a name="l00350"></a>00350 <a class="code" href="classAgent.html#a2a709195dc58a13aecee4b5639c3875b" title="Funkcja obliczajaca czas do wjazdu i wyjazdu z okregu o srodku w wierzcholku kwadratu.">CalculateCollisionPoints</a>((*ListIter),r, <a class="code" href="classCoordinates.html">Coordinates</a>(LocalStartX,LocalStartY),<a class="code" href="classCoordinates.html">Coordinates</a>(xO,yO),InTime,OutTime);
<a name="l00351"></a>00351 <span class="keywordflow">if</span>(OutTime&lt;InTime)
<a name="l00352"></a>00352         InTime=OutTime;
<a name="l00353"></a>00353 InX=ListIter-&gt;_XParamA*InTime+LocalStartX;
<a name="l00354"></a>00354 InY=ListIter-&gt;_YParamA*InTime+LocalStartY;
<a name="l00355"></a>00355 <span class="comment">//szukanie punktu wyjscia z okregu</span>
<a name="l00356"></a>00356 <span class="keywordflow">if</span> ((++ListIter)!=ListOfSegments.end()){
<a name="l00357"></a>00357 
<a name="l00358"></a>00358         ActualPosNext=ListIter-&gt;_Start;
<a name="l00359"></a>00359         LocalStartX=ActualPosNext.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a> - SquareX*_SquareLength;
<a name="l00360"></a>00360         LocalStartY=ActualPosNext.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a> - SquareY*_SquareLength;
<a name="l00361"></a>00361         LocalEndX=ListIter-&gt;_End._x - SquareX*_SquareLength;
<a name="l00362"></a>00362         LocalEndY=ListIter-&gt;_End._y - SquareY*_SquareLength;
<a name="l00363"></a>00363 
<a name="l00364"></a>00364 
<a name="l00365"></a>00365 <a class="code" href="classAgent.html#a2a709195dc58a13aecee4b5639c3875b" title="Funkcja obliczajaca czas do wjazdu i wyjazdu z okregu o srodku w wierzcholku kwadratu.">CalculateCollisionPoints</a>(*ListIter,r, <a class="code" href="classCoordinates.html">Coordinates</a>(LocalStartX,LocalStartY),<a class="code" href="classCoordinates.html">Coordinates</a>(xO,yO),InTime,OutTime);
<a name="l00366"></a>00366 <span class="keywordflow">if</span>((InTime&lt;0))
<a name="l00367"></a>00367         InTime=OutTime;
<a name="l00368"></a>00368 
<a name="l00369"></a>00369 OutX=ListIter-&gt;_XParamA*InTime+LocalStartX;
<a name="l00370"></a>00370 OutY=ListIter-&gt;_YParamA*InTime+LocalStartY;
<a name="l00371"></a>00371 
<a name="l00372"></a>00372 TempListOfSegments=<a class="code" href="classAgent.html#a4c8aa915f9f00c389d31cda24fdbfd7b" title="Funkcja zwraca trase omijajaca zakazany obszar (kolo) w wierzcholku kwadratu.">FindPathResolvingForbiddenSector</a>(<a class="code" href="classCoordinates.html">Coordinates</a>(InX,InY),<a class="code" href="classCoordinates.html">Coordinates</a>(OutX,OutY),<a class="code" href="classCoordinates.html">Coordinates</a>(xO,yO));
<a name="l00373"></a>00373 
<a name="l00374"></a>00374 EndOfSegInCircle=<span class="keyword">true</span>;
<a name="l00375"></a>00375 }<span class="keywordflow">else</span>{
<a name="l00376"></a>00376         ListIter--;
<a name="l00377"></a>00377         OnlyInPoint=<span class="keyword">true</span>;
<a name="l00378"></a>00378         TempListOfSegments.push_back(<a class="code" href="classSegment.html" title="Klasa opisujaca odcienek(prosta) w przestrzeni dwuwymiarowej.">Segment</a>(<a class="code" href="classCoordinates.html">Coordinates</a>(InX,InY),<a class="code" href="classCoordinates.html">Coordinates</a>(InX,InY)));
<a name="l00379"></a>00379         EndOfSegInCircle=<span class="keyword">true</span>;
<a name="l00380"></a>00380 <span class="comment">//koniec przesuwany do miejsca wjazdu na zakazany obszar</span>
<a name="l00381"></a>00381         ListIter-&gt;_End=<a class="code" href="classCoordinates.html">Coordinates</a>(InX+ SquareX*_SquareLength,InY+ SquareY*_SquareLength);
<a name="l00382"></a>00382 }
<a name="l00383"></a>00383 
<a name="l00384"></a>00384 <span class="comment">//}else if (sqrt(pow(-LocalEndX,2.0)+pow(_SquareLength-LocalEndY,2.0))&lt;=r){//NW</span>
<a name="l00385"></a>00385 
<a name="l00386"></a>00386 <span class="comment">//}else if (sqrt(pow(_SquareLength-LocalEndX,2.0)+pow(-LocalEndY,2.0))&lt;=r){//SE</span>
<a name="l00387"></a>00387 
<a name="l00388"></a>00388 <span class="comment">//}else if (sqrt(pow(-LocalEndX,2.0)+pow(-LocalEndY,2.0))&lt;=r){//SW</span>
<a name="l00389"></a>00389 
<a name="l00390"></a>00390 <span class="comment">//}</span>
<a name="l00391"></a>00391 <span class="keywordflow">if</span>(EndOfSegInCircle){
<a name="l00392"></a>00392         SquareResolved=<span class="keyword">true</span>;
<a name="l00393"></a>00393         <span class="keywordflow">if</span> (!OnlyInPoint){
<a name="l00394"></a>00394         <span class="comment">//ListIter--;</span>
<a name="l00395"></a>00395         <span class="comment">//ActualPos=ListIter-&gt;_Start;</span>
<a name="l00396"></a>00396         LocalStartX=ActualPos.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a> - SquareX*_SquareLength;
<a name="l00397"></a>00397         LocalStartY=ActualPos.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a> - SquareY*_SquareLength;
<a name="l00398"></a>00398         <span class="comment">//LocalEndX=ListIter-&gt;_End._x - SquareX*_SquareLength;</span>
<a name="l00399"></a>00399         <span class="comment">//LocalEndY=ListIter-&gt;_End._y - SquareY*_SquareLength;</span>
<a name="l00400"></a>00400         <span class="comment">//ListIter++;</span>
<a name="l00401"></a>00401         }
<a name="l00402"></a>00402 <span class="comment">//dodanie pozycji segmentu od startu do miejsca wjechania na zakazane kolo</span>
<a name="l00403"></a>00403 TempListOfSegments.push_front(<a class="code" href="classSegment.html" title="Klasa opisujaca odcienek(prosta) w przestrzeni dwuwymiarowej.">Segment</a>(<a class="code" href="classCoordinates.html">Coordinates</a>(LocalStartX,LocalStartY),TempListOfSegments.begin()-&gt;_Start));
<a name="l00404"></a>00404 <span class="comment">//Jezeli nie byl tylko segment wejsciowy trzeba go usunac, bo byl potrzebny</span>
<a name="l00405"></a>00405 <span class="comment">//jedynie do oznaczenia punktu wejscia</span>
<a name="l00406"></a>00406 <span class="keywordflow">if</span> (OnlyInPoint)
<a name="l00407"></a>00407         TempListOfSegments.pop_back();
<a name="l00408"></a>00408 
<a name="l00409"></a>00409 <span class="comment">//przejscie do globalnego ukladu wspolrzednych</span>
<a name="l00410"></a>00410 <a class="code" href="classAgent.html#a4146de8fd62c2766e8263bf3af7859fb" title="Procedura zmienia uklad wspolrzednych segmentu.">ChangeStartOfCordSysForSegment</a>(TempListOfSegments,<a class="code" href="classCoordinates.html">Coordinates</a>(-SquareX*_SquareLength,-SquareX*_SquareLength));
<a name="l00411"></a>00411 <span class="comment">//przepisanie scizeki do wynikowej trasy</span>
<a name="l00412"></a>00412 list&lt;Segment&gt;::iterator TempListIter=TempListOfSegments.begin();
<a name="l00413"></a>00413 <span class="keywordflow">for</span>(;TempListIter!=TempListOfSegments.end();TempListIter++){
<a name="l00414"></a>00414         ResultListOfSegments.push_back(*TempListIter);
<a name="l00415"></a>00415 }
<a name="l00416"></a>00416 IteratorForLastElement=ResultListOfSegments.end();
<a name="l00417"></a>00417 IteratorForLastElement--;
<a name="l00418"></a>00418 ActualPos=IteratorForLastElement-&gt;_End;
<a name="l00419"></a>00419 }
<a name="l00420"></a>00420 }
<a name="l00421"></a>00421 CornerIter++;
<a name="l00422"></a>00422         }
<a name="l00423"></a>00423         <span class="keywordflow">if</span>(!SquareResolved){
<a name="l00424"></a>00424         ColisionFound=<span class="keyword">false</span>;
<a name="l00425"></a>00425         CornerIter=0;
<a name="l00426"></a>00426         <span class="comment">//koniec segmentu w badanym kwadracie</span>
<a name="l00427"></a>00427         <span class="keywordflow">if</span>((LocalEndX&lt;=_SquareLength)&amp;&amp;(LocalEndX&gt;=0)&amp;&amp;(LocalEndY&lt;=_SquareLength)&amp;&amp;(LocalEndY&gt;=0)){
<a name="l00428"></a>00428                 <span class="comment">//koniec segmentu w kwadracie wiec dodajemy segment i koniec</span>
<a name="l00429"></a>00429                 <a class="code" href="classSegment.html" title="Klasa opisujaca odcienek(prosta) w przestrzeni dwuwymiarowej.">Segment</a> S(<a class="code" href="classCoordinates.html">Coordinates</a>(LocalStartX,LocalStartY),<a class="code" href="classCoordinates.html">Coordinates</a>(LocalEndX,LocalEndY));
<a name="l00430"></a>00430                 <a class="code" href="classAgent.html#a4146de8fd62c2766e8263bf3af7859fb" title="Procedura zmienia uklad wspolrzednych segmentu.">ChangeStartOfCordSysForSegment</a>(S,<a class="code" href="classCoordinates.html">Coordinates</a>(- SquareX*_SquareLength,- SquareY*_SquareLength));
<a name="l00431"></a>00431                 ResultListOfSegments.push_back(S);
<a name="l00432"></a>00432         ActualPos=ListIter-&gt;_End;
<a name="l00433"></a>00433         }<span class="keywordflow">else</span>{
<a name="l00434"></a>00434 <span class="comment">//sprawdzamy czy wchodza na te male kola w rogach</span>
<a name="l00435"></a>00435 <span class="comment">//Kolo NE</span>
<a name="l00436"></a>00436 
<a name="l00437"></a>00437                 <span class="keywordflow">while</span>((!ColisionFound)&amp;&amp;(CornerIter&lt;4)){
<a name="l00438"></a>00438                         <span class="keywordflow">switch</span>(CornerIter){
<a name="l00439"></a>00439                         <span class="keywordflow">case</span> 0:
<a name="l00440"></a>00440                                 xO=_SquareLength;
<a name="l00441"></a>00441                                 yO=_SquareLength;
<a name="l00442"></a>00442                                 <span class="keywordflow">break</span>;
<a name="l00443"></a>00443                         <span class="keywordflow">case</span> 1:
<a name="l00444"></a>00444                                 xO=0;
<a name="l00445"></a>00445                                 yO=_SquareLength;
<a name="l00446"></a>00446                                 <span class="keywordflow">break</span>;
<a name="l00447"></a>00447                         <span class="keywordflow">case</span> 2:
<a name="l00448"></a>00448                                 xO=_SquareLength;
<a name="l00449"></a>00449                                 yO=0;
<a name="l00450"></a>00450                                 <span class="keywordflow">break</span>;
<a name="l00451"></a>00451                         <span class="keywordflow">case</span> 3:
<a name="l00452"></a>00452                                 xO=0;
<a name="l00453"></a>00453                                 yO=0;
<a name="l00454"></a>00454                                 <span class="keywordflow">break</span>;
<a name="l00455"></a>00455                         }
<a name="l00456"></a>00456                 <span class="comment">//rownanie kwadratowe opisujace kolizje</span>
<a name="l00457"></a>00457                 a=pow(ListIter-&gt;_XParamA,2)+pow(ListIter-&gt;_YParamA,2);
<a name="l00458"></a>00458                 b=2.0*(ListIter-&gt;_XParamA*(LocalStartX-xO)+
<a name="l00459"></a>00459                                 ListIter-&gt;_YParamA*(LocalStartY-yO));
<a name="l00460"></a>00460                 c=pow(LocalStartX-xO,2)+pow(LocalStartY-yO,2)-pow(r,2);
<a name="l00461"></a>00461                 <span class="keywordflow">if</span>(((NumOfRoots=<a class="code" href="classAgent.html#ab789551a0abd4cf9daed34c2a9577f16" title="Funkcja oblicza pierwiastki rownania kwadratowego.">SquareEqRoots</a>(a,b,c,InTime,OutTime))&gt;1)){<span class="comment">//jezeli dwa rozwiazania</span>
<a name="l00462"></a>00462                         <span class="keywordflow">if</span>((InTime&gt;0)&amp;&amp;(OutTime&gt;0)){<span class="comment">//TODO Sprawdzic kiedy mozliwe jest ze jeden z czasow jest dodatni</span>
<a name="l00463"></a>00463                         ColisionFound=<span class="keyword">true</span>;<span class="comment">//to kolizja</span>
<a name="l00464"></a>00464                         <span class="keywordflow">if</span>(OutTime&lt;InTime){<span class="comment">//czas wyjscia nie moze byc mniejszy od czasu wejscia</span>
<a name="l00465"></a>00465                                 TempTime=InTime;
<a name="l00466"></a>00466                                 InTime=OutTime;
<a name="l00467"></a>00467                                 OutTime=TempTime;
<a name="l00468"></a>00468                         }
<a name="l00469"></a>00469                         <span class="comment">//Obliczanie wspolrzednych poczatkowych i koncowych</span>
<a name="l00470"></a>00470                         InX=ListIter-&gt;_XParamA*InTime+LocalStartX;
<a name="l00471"></a>00471                         InY=ListIter-&gt;_YParamA*InTime+LocalStartY;
<a name="l00472"></a>00472                         OutX=ListIter-&gt;_XParamA*OutTime+LocalStartX;
<a name="l00473"></a>00473                         OutY=ListIter-&gt;_YParamA*OutTime+LocalStartY;
<a name="l00474"></a>00474                         }
<a name="l00475"></a>00475                 }<span class="keywordflow">else</span> <span class="keywordflow">if</span> (NumOfRoots==1){
<a name="l00476"></a>00476                         ColisionFound=<span class="keyword">true</span>;<span class="comment">//&quot;otarcie&quot; sie o niedozwolony obszar</span>
<a name="l00477"></a>00477                         SquareResolved=<span class="keyword">true</span>;<span class="comment">//Kolizji nie trzeba rozwiazywac</span>
<a name="l00478"></a>00478                 }
<a name="l00479"></a>00479                 CornerIter++;
<a name="l00480"></a>00480         }
<a name="l00481"></a>00481 
<a name="l00482"></a>00482         <span class="keywordflow">if</span>((SquareResolved)||(!ColisionFound)){<span class="comment">//jezeli nie ma kolizji</span>
<a name="l00483"></a>00483 <span class="comment">//szukanie miejsca opuszczenia kwadratu</span>
<a name="l00484"></a>00484                 TempTime=-1.0;
<a name="l00485"></a>00485                 <span class="keywordflow">if</span>(ListIter-&gt;_XParamA!=0.0){
<a name="l00486"></a>00486                         TempTime=(_SquareLength-LocalStartX)/ListIter-&gt;_XParamA;<span class="comment">//prawy bok kwadratu</span>
<a name="l00487"></a>00487                         <span class="keywordflow">if</span>((TempTime&gt;0)) {<span class="comment">//prawy bok kwadratu</span>
<a name="l00488"></a>00488                                 LocalEndX=_SquareLength;
<a name="l00489"></a>00489                                 LocalEndY=ListIter-&gt;_YParamA*TempTime+LocalStartY;
<a name="l00490"></a>00490                                 <span class="keywordflow">if</span>((LocalEndY&lt;=_SquareLength)&amp;&amp;(LocalEndY&gt;=0.0))
<a name="l00491"></a>00491                                         SquareResolved=<span class="keyword">true</span>;
<a name="l00492"></a>00492                         }
<a name="l00493"></a>00493                 }
<a name="l00494"></a>00494                 <span class="keywordflow">if</span>((!SquareResolved)&amp;&amp;(ListIter-&gt;_XParamA!=0.0)){
<a name="l00495"></a>00495                         TempTime=(-LocalStartX)/ListIter-&gt;_XParamA;<span class="comment">//lewy bok kwadratu</span>
<a name="l00496"></a>00496                         <span class="keywordflow">if</span>((TempTime&gt;0)){<span class="comment">//lewy bok kwadratu</span>
<a name="l00497"></a>00497                                 LocalEndX=0;
<a name="l00498"></a>00498                                 LocalEndY=ListIter-&gt;_YParamA*TempTime+LocalStartY;
<a name="l00499"></a>00499                                 <span class="keywordflow">if</span>((LocalEndY&lt;=_SquareLength)&amp;&amp;(LocalEndY&gt;=0.0))
<a name="l00500"></a>00500                                         SquareResolved=<span class="keyword">true</span>;
<a name="l00501"></a>00501                         }
<a name="l00502"></a>00502                 }
<a name="l00503"></a>00503 
<a name="l00504"></a>00504                 <span class="keywordflow">if</span>((!SquareResolved)&amp;&amp;(ListIter-&gt;_YParamA!=0.0)){
<a name="l00505"></a>00505                         TempTime=(_SquareLength-LocalStartY)/ListIter-&gt;_YParamA;<span class="comment">//gorny kwadrat</span>
<a name="l00506"></a>00506                         <span class="keywordflow">if</span>((TempTime&gt;0)){<span class="comment">//gorny kwadrat</span>
<a name="l00507"></a>00507                                 LocalEndY=_SquareLength;
<a name="l00508"></a>00508                                 LocalEndX=ListIter-&gt;_XParamA*TempTime+LocalStartX;
<a name="l00509"></a>00509                                 <span class="keywordflow">if</span>((LocalEndY&lt;=_SquareLength)&amp;&amp;(LocalEndY&gt;=0.0))
<a name="l00510"></a>00510                                         SquareResolved=<span class="keyword">true</span>;
<a name="l00511"></a>00511                         }
<a name="l00512"></a>00512                 }
<a name="l00513"></a>00513                 <span class="keywordflow">if</span>((!SquareResolved)&amp;&amp;(ListIter-&gt;_YParamA!=0.0)){
<a name="l00514"></a>00514                         TempTime=(-LocalStartY)/ListIter-&gt;_YParamA;<span class="comment">//dolny kwadrat</span>
<a name="l00515"></a>00515                         <span class="keywordflow">if</span>(TempTime&gt;0)
<a name="l00516"></a>00516                         {<span class="comment">//dolny kwadrat</span>
<a name="l00517"></a>00517                                 LocalEndY=0;
<a name="l00518"></a>00518                                 LocalEndX=ListIter-&gt;_XParamA*TempTime+LocalStartX;
<a name="l00519"></a>00519                                 <span class="keywordflow">if</span>((LocalEndY&lt;=_SquareLength)&amp;&amp;(LocalEndY&gt;=0.0))
<a name="l00520"></a>00520                                         SquareResolved=<span class="keyword">true</span>;
<a name="l00521"></a>00521                         }
<a name="l00522"></a>00522                 }
<a name="l00523"></a>00523 
<a name="l00524"></a>00524 
<a name="l00525"></a>00525 <span class="comment">//przejscie do globalnego ukladu wspolrzednych</span>
<a name="l00526"></a>00526                 LocalStartX+=SquareX*_SquareLength;
<a name="l00527"></a>00527                 LocalStartY+=SquareY*_SquareLength;
<a name="l00528"></a>00528                 LocalEndX+=SquareX*_SquareLength;
<a name="l00529"></a>00529                 LocalEndY+=SquareY*_SquareLength;
<a name="l00530"></a>00530 
<a name="l00531"></a>00531 
<a name="l00532"></a>00532 
<a name="l00533"></a>00533 
<a name="l00534"></a>00534 <span class="comment">//tworzenie sciezki przechodzacej przez kwadrat bez kolizji</span>
<a name="l00535"></a>00535                 ResultListOfSegments.push_back(<a class="code" href="classSegment.html" title="Klasa opisujaca odcienek(prosta) w przestrzeni dwuwymiarowej.">Segment</a>(<a class="code" href="classCoordinates.html">Coordinates</a>(LocalStartX,LocalStartY),<a class="code" href="classCoordinates.html">Coordinates</a>(LocalEndX,LocalEndY)));
<a name="l00536"></a>00536         }<span class="keywordflow">else</span>{<span class="comment">//generujemy sciezke od poczatku do momentu dojazdu do miejsca kontynuacji sciezki</span>
<a name="l00537"></a>00537                 TempListOfSegments.clear();
<a name="l00538"></a>00538                 TempListOfSegments=<a class="code" href="classAgent.html#a4c8aa915f9f00c389d31cda24fdbfd7b" title="Funkcja zwraca trase omijajaca zakazany obszar (kolo) w wierzcholku kwadratu.">FindPathResolvingForbiddenSector</a>(<a class="code" href="classCoordinates.html">Coordinates</a>(InX,InY),<a class="code" href="classCoordinates.html">Coordinates</a>(OutX,OutY),<a class="code" href="classCoordinates.html">Coordinates</a>(xO,yO));
<a name="l00539"></a>00539                 <span class="comment">//dodanie pozycji segmentu od startu do miejsca wjechania na zakazane kolo</span>
<a name="l00540"></a>00540                 TempListOfSegments.push_front(<a class="code" href="classSegment.html" title="Klasa opisujaca odcienek(prosta) w przestrzeni dwuwymiarowej.">Segment</a>(<a class="code" href="classCoordinates.html">Coordinates</a>(LocalStartX,LocalStartY),TempListOfSegments.begin()-&gt;_Start));
<a name="l00541"></a>00541                 <span class="comment">//przejscie do globalnego ukladu wspolrzednych</span>
<a name="l00542"></a>00542                 <a class="code" href="classAgent.html#a4146de8fd62c2766e8263bf3af7859fb" title="Procedura zmienia uklad wspolrzednych segmentu.">ChangeStartOfCordSysForSegment</a>(TempListOfSegments,<a class="code" href="classCoordinates.html">Coordinates</a>(-SquareX*_SquareLength,-SquareY*_SquareLength));
<a name="l00543"></a>00543                 <span class="comment">//przepisanie scizeki do wynikowej trasy</span>
<a name="l00544"></a>00544                 list&lt;Segment&gt;::iterator TempListIter=TempListOfSegments.begin();
<a name="l00545"></a>00545                 <span class="keywordflow">for</span>(;TempListIter!=TempListOfSegments.end();TempListIter++){
<a name="l00546"></a>00546                         ResultListOfSegments.push_back(*TempListIter);
<a name="l00547"></a>00547                 }
<a name="l00548"></a>00548 
<a name="l00549"></a>00549         }
<a name="l00550"></a>00550         IteratorForLastElement=ResultListOfSegments.end();
<a name="l00551"></a>00551         IteratorForLastElement--;
<a name="l00552"></a>00552         ActualPos=IteratorForLastElement-&gt;_End;
<a name="l00553"></a>00553         }
<a name="l00554"></a>00554         }
<a name="l00555"></a>00555 }<span class="comment">//koniec while</span>
<a name="l00556"></a>00556 }
<a name="l00557"></a>00557 <span class="keywordflow">return</span> ResultListOfSegments;
<a name="l00558"></a>00558 }
<a name="l00559"></a>00559 
<a name="l00560"></a>00560 
<a name="l00561"></a>00561 
<a name="l00562"></a><a class="code" href="classAgent.html#ab15fff7775dd38bda618306c02871ec6">00562</a> <span class="keywordtype">void</span> <a class="code" href="classAgent.html#ab15fff7775dd38bda618306c02871ec6" title="Procedura ustawia predkosc ruchu agenta poprzez zmiane funkcji ruchu w poszczegolnych segmentach tras...">Agent::SetVelocityToSegments</a>()
<a name="l00563"></a>00563 {
<a name="l00564"></a>00564         list&lt;Segment&gt;::iterator ListIter=<a class="code" href="classAgent.html#ad2120cdac7ca4094490755d0aca36aed" title="lista odcinkow w trasie agenta">_ListOfSegments</a>.begin();
<a name="l00565"></a>00565         <span class="keywordflow">for</span>(;ListIter!=<a class="code" href="classAgent.html#ad2120cdac7ca4094490755d0aca36aed" title="lista odcinkow w trasie agenta">_ListOfSegments</a>.end();ListIter++){
<a name="l00566"></a>00566                 ListIter-&gt;SetVelocity(<a class="code" href="classAgent.html#a481f40f58a7bfaa1d7fddf145e3d9635" title="predkosc wypadkowa agenta">_MyVel</a>);
<a name="l00567"></a>00567         }
<a name="l00568"></a>00568 
<a name="l00569"></a>00569 
<a name="l00570"></a>00570 }
<a name="l00571"></a>00571 
<a name="l00572"></a><a class="code" href="classAgent.html#a51bc5c497653779725fc4c2f6dfee888">00572</a> <span class="keywordtype">int</span> <a class="code" href="classAgent.html#a51bc5c497653779725fc4c2f6dfee888" title="Procedura zapisuje aktualną pozycje agenta di pliku Agent(ID).dat.">Agent::DropActualPosition</a>()
<a name="l00573"></a>00573 {
<a name="l00574"></a>00574         ofstream Strm;
<a name="l00575"></a>00575         <span class="keywordtype">char</span> dir[50]=PLOTDIR;
<a name="l00576"></a>00576         <span class="keywordtype">char</span> agentID[20];
<a name="l00577"></a>00577         strcat(dir,<span class="stringliteral">&quot;Agent&quot;</span>);
<a name="l00578"></a>00578         snprintf(agentID, 20,<span class="stringliteral">&quot;%d&quot;</span>,<a class="code" href="classAgent.html#a4ad85b810d47200d82a3e8445e222bc2" title="Numer ID agenta bedacy rowniez priorytetem agenta.">_MyID</a>);
<a name="l00579"></a>00579         strcat(dir, agentID);
<a name="l00580"></a>00580         strcat(dir,<span class="stringliteral">&quot;.dat&quot;</span>);
<a name="l00581"></a>00581 
<a name="l00582"></a>00582         Strm.open(dir,ios::out|ios::app);<span class="comment">//dopisywanie</span>
<a name="l00583"></a>00583         <span class="keywordflow">if</span>(!Strm.is_open())
<a name="l00584"></a>00584         {
<a name="l00585"></a>00585                 cerr&lt;&lt;<span class="stringliteral">&quot;Nie mozna otworzyc pliku&quot;</span>&lt;&lt;endl;
<a name="l00586"></a>00586                 <span class="keywordflow">return</span> 1;
<a name="l00587"></a>00587         }
<a name="l00588"></a>00588         Strm&lt;&lt;<a class="code" href="classAgent.html#aefb96a00785fe32c6e856160485f0aab" title="globalna pozycja agenta">_ActualPosition</a>.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a>&lt;&lt;<span class="stringliteral">&quot; &quot;</span>&lt;&lt;<a class="code" href="classAgent.html#aefb96a00785fe32c6e856160485f0aab" title="globalna pozycja agenta">_ActualPosition</a>.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a>&lt;&lt;<span class="stringliteral">&quot; &quot;</span>&lt;&lt;<a class="code" href="classAgent.html#a569b980937fe959673a4e6010866afe7" title="zegar agenta pozwalajacy na odniesienie do rzeczywistego czasu symulacji">_MyClock</a>.<a class="code" href="classClock.html#a14ea1f48a24417870bfd5fc0153d140d">GiveActualTime</a>()&lt;&lt;endl;
<a name="l00589"></a>00589         Strm.close();
<a name="l00590"></a>00590         <span class="keywordflow">return</span> 1;
<a name="l00591"></a>00591 }
<a name="l00592"></a>00592 
<a name="l00593"></a>00593 
<a name="l00594"></a><a class="code" href="classAgent.html#a2a709195dc58a13aecee4b5639c3875b">00594</a> <span class="keywordtype">int</span> <a class="code" href="classAgent.html#a2a709195dc58a13aecee4b5639c3875b" title="Funkcja obliczajaca czas do wjazdu i wyjazdu z okregu o srodku w wierzcholku kwadratu.">Agent::CalculateCollisionPoints</a>(<a class="code" href="classSegment.html" title="Klasa opisujaca odcienek(prosta) w przestrzeni dwuwymiarowej.">Segment</a> S,<span class="keywordtype">double</span> r,<a class="code" href="classCoordinates.html">Coordinates</a> Start,<a class="code" href="classCoordinates.html">Coordinates</a> O, <span class="keywordtype">double</span> &amp; InTime, <span class="keywordtype">double</span> &amp; OutTime)
<a name="l00595"></a>00595 {
<a name="l00596"></a>00596         <span class="keywordtype">double</span> a,b,c;
<a name="l00597"></a>00597 
<a name="l00598"></a>00598         a=pow(S.<a class="code" href="classSegment.html#a1b3d58ab45b040d60ba2fb6385526fda">_XParamA</a>,2)+pow(S.<a class="code" href="classSegment.html#a951ffa6de4422a7bfe8955753775cde8">_YParamA</a>,2);
<a name="l00599"></a>00599         b=2*(S.<a class="code" href="classSegment.html#a1b3d58ab45b040d60ba2fb6385526fda">_XParamA</a>*(Start.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a>-O.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a>)+
<a name="l00600"></a>00600                         S.<a class="code" href="classSegment.html#a951ffa6de4422a7bfe8955753775cde8">_YParamA</a>*(Start.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a>-O.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a>));
<a name="l00601"></a>00601         c=pow(Start.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a>-O.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a>,2)+pow(Start.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a>-O.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a>,2)-pow(r,2);
<a name="l00602"></a>00602         <span class="keywordflow">return</span> <a class="code" href="classAgent.html#ab789551a0abd4cf9daed34c2a9577f16" title="Funkcja oblicza pierwiastki rownania kwadratowego.">SquareEqRoots</a>(a,b,c,InTime,OutTime);
<a name="l00603"></a>00603 
<a name="l00604"></a>00604 }
<a name="l00605"></a><a class="code" href="classAgent.html#ab789551a0abd4cf9daed34c2a9577f16">00605</a> <span class="keywordtype">int</span> <a class="code" href="classAgent.html#ab789551a0abd4cf9daed34c2a9577f16" title="Funkcja oblicza pierwiastki rownania kwadratowego.">Agent::SquareEqRoots</a>(<span class="keywordtype">double</span> a,<span class="keywordtype">double</span> b,<span class="keywordtype">double</span> c,<span class="keywordtype">double</span> &amp;t1,<span class="keywordtype">double</span> &amp;t2)
<a name="l00606"></a>00606 {
<a name="l00607"></a>00607 <span class="keywordtype">double</span> delta=pow(b,2.0)-4*a*c;
<a name="l00608"></a>00608 <span class="keywordflow">if</span>(delta&gt;0){
<a name="l00609"></a>00609         t1=(-b+sqrt(delta))/(2*a);
<a name="l00610"></a>00610         t2=(-b-sqrt(delta))/(2*a);
<a name="l00611"></a>00611         <span class="keywordflow">return</span> 2;
<a name="l00612"></a>00612 }<span class="keywordflow">else</span> <span class="keywordflow">if</span>(delta==0){
<a name="l00613"></a>00613         t1=(-b)/(2*a);
<a name="l00614"></a>00614         <span class="keywordflow">return</span> 1;
<a name="l00615"></a>00615 }
<a name="l00616"></a>00616 <span class="keywordflow">return</span> 0;
<a name="l00617"></a>00617 
<a name="l00618"></a>00618 }
<a name="l00619"></a>00619 list&lt;Segment&gt; <a class="code" href="classAgent.html#a4c8aa915f9f00c389d31cda24fdbfd7b" title="Funkcja zwraca trase omijajaca zakazany obszar (kolo) w wierzcholku kwadratu.">Agent::FindPathResolvingForbiddenSector</a>
<a name="l00620"></a><a class="code" href="classAgent.html#a4c8aa915f9f00c389d31cda24fdbfd7b">00620</a> (<a class="code" href="classCoordinates.html">Coordinates</a> In,<a class="code" href="classCoordinates.html">Coordinates</a> Out,<a class="code" href="classCoordinates.html">Coordinates</a> O)
<a name="l00621"></a>00621 {
<a name="l00622"></a>00622         list&lt;Segment&gt; ResultListOfSegments;
<a name="l00623"></a>00623         <a class="code" href="classSegment.html" title="Klasa opisujaca odcienek(prosta) w przestrzeni dwuwymiarowej.">Segment</a> ToInSeg,ToOutSeg,ToMiddleSeg,MiddleSeg;
<a name="l00624"></a>00624         <span class="keywordtype">double</span> fi1,fi2,fi3;<span class="comment">//fi - kat pomiedzy poszczegolnymi prostymi</span>
<a name="l00625"></a>00625         <span class="comment">//do ktorych szuka sie stycznych</span>
<a name="l00626"></a>00626         <span class="keywordtype">double</span> R=sqrt(pow(O.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a>-In.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a>,2)+pow(O.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a>-In.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a>,2));<span class="comment">//promien</span>
<a name="l00627"></a>00627 <span class="comment">//Tworzenie stycznych</span>
<a name="l00628"></a>00628 
<a name="l00629"></a>00629 <span class="comment">//Proste zawierajace promienie okregu z punktami wejscia i wyjscia z kolizji</span>
<a name="l00630"></a>00630         <a class="code" href="classSegment.html" title="Klasa opisujaca odcienek(prosta) w przestrzeni dwuwymiarowej.">Segment</a> InSeg(In,O);
<a name="l00631"></a>00631         <a class="code" href="classSegment.html" title="Klasa opisujaca odcienek(prosta) w przestrzeni dwuwymiarowej.">Segment</a> OutSeg(O,Out);
<a name="l00632"></a>00632 <span class="comment">//przejscie do ukladu wspolrzednych zwiazanego ze srodkiem omijanego okregu</span>
<a name="l00633"></a>00633         ChangeStartOfCordSysForSegment(InSeg,O);
<a name="l00634"></a>00634         ChangeStartOfCordSysForSegment(OutSeg,O);
<a name="l00635"></a>00635 <span class="comment">//znajdywanie stycznych</span>
<a name="l00636"></a>00636         ToInSeg=FindLinePerpendicularToPoint(InSeg,InSeg.<a class="code" href="classSegment.html#ae628193c6d019a46071bf2d649e8b57b" title="poczatek odcinka">_Start</a>);
<a name="l00637"></a>00637         ToOutSeg=FindLinePerpendicularToPoint(OutSeg,OutSeg.<a class="code" href="classSegment.html#abaf11cb5b3b623c9dc278ca7bac5bdf0" title="koniec odcinka">_End</a>);
<a name="l00638"></a>00638 <span class="comment">//Ustalanie trzeciej stycznej</span>
<a name="l00639"></a>00639         <span class="comment">//ustalanie punktu stycznosci</span>
<a name="l00640"></a>00640         fi1=acos(InSeg.<a class="code" href="classSegment.html#ae628193c6d019a46071bf2d649e8b57b" title="poczatek odcinka">_Start</a>.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a>/R);
<a name="l00641"></a>00641         <span class="keywordflow">if</span>(InSeg.<a class="code" href="classSegment.html#ae628193c6d019a46071bf2d649e8b57b" title="poczatek odcinka">_Start</a>.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a>&lt;0)
<a name="l00642"></a>00642                 fi1+=2*(M_PI-fi1);
<a name="l00643"></a>00643         fi2=acos(OutSeg.<a class="code" href="classSegment.html#abaf11cb5b3b623c9dc278ca7bac5bdf0" title="koniec odcinka">_End</a>.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a>/R);
<a name="l00644"></a>00644         <span class="keywordflow">if</span>(OutSeg.<a class="code" href="classSegment.html#abaf11cb5b3b623c9dc278ca7bac5bdf0" title="koniec odcinka">_End</a>.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a>&lt;0)
<a name="l00645"></a>00645                 fi2+=2*(M_PI-fi2);
<a name="l00646"></a>00646         <span class="keywordflow">if</span>(fabs(fi1-fi2)&gt;=M_PI){
<a name="l00647"></a>00647                 <span class="keywordflow">if</span>(fi1&gt;fi2)
<a name="l00648"></a>00648                         fi3=fi2-fabs(2*M_PI-fi1+fi2)/2.0;
<a name="l00649"></a>00649                 <span class="keywordflow">else</span>
<a name="l00650"></a>00650                         fi3=fi1-fabs(2*M_PI-fi2+fi1)/2.0;
<a name="l00651"></a>00651 
<a name="l00652"></a>00652         }<span class="keywordflow">else</span>{
<a name="l00653"></a>00653                 <span class="keywordflow">if</span>(fi1&gt;fi2)
<a name="l00654"></a>00654                         fi3=fi2+fabs(fi1-fi2)/2.0;
<a name="l00655"></a>00655                 <span class="keywordflow">else</span>
<a name="l00656"></a>00656                         fi3=fi1+fabs(fi1-fi2)/2.0;
<a name="l00657"></a>00657         }
<a name="l00658"></a>00658         <span class="keywordflow">if</span>(fabs(fi1-fi2)&lt;=M_PI/2.0){
<a name="l00659"></a>00659                 InSeg=<a class="code" href="classSegment.html" title="Klasa opisujaca odcienek(prosta) w przestrzeni dwuwymiarowej.">Segment</a>(InSeg.<a class="code" href="classSegment.html#ae628193c6d019a46071bf2d649e8b57b" title="poczatek odcinka">_Start</a>,FindCrossPointBetweenSegments(ToInSeg,ToOutSeg));
<a name="l00660"></a>00660                 OutSeg=<a class="code" href="classSegment.html" title="Klasa opisujaca odcienek(prosta) w przestrzeni dwuwymiarowej.">Segment</a>(InSeg.<a class="code" href="classSegment.html#abaf11cb5b3b623c9dc278ca7bac5bdf0" title="koniec odcinka">_End</a>,OutSeg.<a class="code" href="classSegment.html#abaf11cb5b3b623c9dc278ca7bac5bdf0" title="koniec odcinka">_End</a>);
<a name="l00661"></a>00661                 <span class="comment">//wracamy do wyjsciowego ukladu</span>
<a name="l00662"></a>00662                 ChangeStartOfCordSysForSegment(InSeg,-O);
<a name="l00663"></a>00663                 ChangeStartOfCordSysForSegment(OutSeg,-O);
<a name="l00664"></a>00664                 <span class="comment">//tworzymy sciezke wynikowa</span>
<a name="l00665"></a>00665                 ResultListOfSegments.push_back(InSeg);
<a name="l00666"></a>00666                 ResultListOfSegments.push_back(OutSeg);
<a name="l00667"></a>00667         }<span class="keywordflow">else</span>{
<a name="l00668"></a>00668         MiddleSeg=<a class="code" href="classSegment.html" title="Klasa opisujaca odcienek(prosta) w przestrzeni dwuwymiarowej.">Segment</a>(<a class="code" href="classCoordinates.html">Coordinates</a>(0.0,0.0),<a class="code" href="classCoordinates.html">Coordinates</a>(R*cos(fi3),R*sin(fi3)));
<a name="l00669"></a>00669         <span class="comment">//tworzenie stycznej do srodkowego promienia</span>
<a name="l00670"></a>00670         ToMiddleSeg=FindLinePerpendicularToPoint(MiddleSeg,MiddleSeg.<a class="code" href="classSegment.html#abaf11cb5b3b623c9dc278ca7bac5bdf0" title="koniec odcinka">_End</a>);
<a name="l00671"></a>00671 
<a name="l00672"></a>00672         <span class="comment">//Szukamy lamanej zawierajacej cala trase</span>
<a name="l00673"></a>00673                 <span class="comment">//najpierw trzeba znalezc punkty przeciecia stworzonych prostych</span>
<a name="l00674"></a>00674         InSeg=<a class="code" href="classSegment.html" title="Klasa opisujaca odcienek(prosta) w przestrzeni dwuwymiarowej.">Segment</a>(InSeg.<a class="code" href="classSegment.html#ae628193c6d019a46071bf2d649e8b57b" title="poczatek odcinka">_Start</a>,FindCrossPointBetweenSegments(ToInSeg,ToMiddleSeg));
<a name="l00675"></a>00675         MiddleSeg=<a class="code" href="classSegment.html" title="Klasa opisujaca odcienek(prosta) w przestrzeni dwuwymiarowej.">Segment</a>(InSeg.<a class="code" href="classSegment.html#abaf11cb5b3b623c9dc278ca7bac5bdf0" title="koniec odcinka">_End</a>,FindCrossPointBetweenSegments(ToMiddleSeg,ToOutSeg));
<a name="l00676"></a>00676         OutSeg=<a class="code" href="classSegment.html" title="Klasa opisujaca odcienek(prosta) w przestrzeni dwuwymiarowej.">Segment</a>(MiddleSeg.<a class="code" href="classSegment.html#abaf11cb5b3b623c9dc278ca7bac5bdf0" title="koniec odcinka">_End</a>,OutSeg.<a class="code" href="classSegment.html#abaf11cb5b3b623c9dc278ca7bac5bdf0" title="koniec odcinka">_End</a>);
<a name="l00677"></a>00677         <span class="comment">//wracamy do wyjsciowego ukladu</span>
<a name="l00678"></a>00678         ChangeStartOfCordSysForSegment(InSeg,-O);
<a name="l00679"></a>00679         ChangeStartOfCordSysForSegment(MiddleSeg,-O);
<a name="l00680"></a>00680         ChangeStartOfCordSysForSegment(OutSeg,-O);
<a name="l00681"></a>00681 
<a name="l00682"></a>00682         <span class="comment">//Mamy juz trzy segmenty wiec tworzymy sciezke</span>
<a name="l00683"></a>00683 
<a name="l00684"></a>00684 
<a name="l00685"></a>00685 
<a name="l00686"></a>00686         ResultListOfSegments.push_back(InSeg);
<a name="l00687"></a>00687         ResultListOfSegments.push_back(MiddleSeg);
<a name="l00688"></a>00688         ResultListOfSegments.push_back(OutSeg);
<a name="l00689"></a>00689         }
<a name="l00690"></a>00690 
<a name="l00691"></a>00691 <span class="keywordflow">return</span> ResultListOfSegments;
<a name="l00692"></a>00692 
<a name="l00693"></a>00693 
<a name="l00694"></a>00694 }
<a name="l00695"></a>00695 
<a name="l00696"></a>00696 <span class="keywordtype">void</span> <a class="code" href="classAgent.html#a4146de8fd62c2766e8263bf3af7859fb" title="Procedura zmienia uklad wspolrzednych segmentu.">Agent::ChangeStartOfCordSysForSegment</a>
<a name="l00697"></a><a class="code" href="classAgent.html#a4146de8fd62c2766e8263bf3af7859fb">00697</a>         (<a class="code" href="classSegment.html" title="Klasa opisujaca odcienek(prosta) w przestrzeni dwuwymiarowej.">Segment</a> &amp; OneSegment, <a class="code" href="classCoordinates.html">Coordinates</a> Into)
<a name="l00698"></a>00698 {
<a name="l00699"></a>00699 OneSegment.<a class="code" href="classSegment.html#ae628193c6d019a46071bf2d649e8b57b" title="poczatek odcinka">_Start</a>=<a class="code" href="classCoordinates.html">Coordinates</a>(OneSegment.<a class="code" href="classSegment.html#ae628193c6d019a46071bf2d649e8b57b" title="poczatek odcinka">_Start</a>.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a>-Into.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a>,OneSegment.<a class="code" href="classSegment.html#ae628193c6d019a46071bf2d649e8b57b" title="poczatek odcinka">_Start</a>.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a>-Into.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a>);
<a name="l00700"></a>00700 OneSegment.<a class="code" href="classSegment.html#abaf11cb5b3b623c9dc278ca7bac5bdf0" title="koniec odcinka">_End</a>=<a class="code" href="classCoordinates.html">Coordinates</a>(OneSegment.<a class="code" href="classSegment.html#abaf11cb5b3b623c9dc278ca7bac5bdf0" title="koniec odcinka">_End</a>.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a>-Into.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a>,OneSegment.<a class="code" href="classSegment.html#abaf11cb5b3b623c9dc278ca7bac5bdf0" title="koniec odcinka">_End</a>.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a>-Into.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a>);
<a name="l00701"></a>00701 OneSegment.<a class="code" href="classSegment.html#add1eb7f6085946f04808ac96eff4a2a6" title="wspolczynniki rownania opisujacego ruch dla osi X=at+b">_XParamB</a>=OneSegment.<a class="code" href="classSegment.html#ae628193c6d019a46071bf2d649e8b57b" title="poczatek odcinka">_Start</a>.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a>;
<a name="l00702"></a>00702 OneSegment.<a class="code" href="classSegment.html#a7515a9f8f060e6b9a806bbdabf5a1679" title="wspolczynniki rownania opisujacego ruch dla osi Y=at+b">_YParamB</a>=OneSegment.<a class="code" href="classSegment.html#ae628193c6d019a46071bf2d649e8b57b" title="poczatek odcinka">_Start</a>.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a>;
<a name="l00703"></a>00703 }
<a name="l00704"></a>00704 
<a name="l00705"></a>00705 <span class="keywordtype">void</span> <a class="code" href="classAgent.html#a4146de8fd62c2766e8263bf3af7859fb" title="Procedura zmienia uklad wspolrzednych segmentu.">Agent::ChangeStartOfCordSysForSegment</a>
<a name="l00706"></a>00706 (list&lt;Segment&gt; &amp; ListOfSegments, <a class="code" href="classCoordinates.html">Coordinates</a> Into)
<a name="l00707"></a>00707 {
<a name="l00708"></a>00708         list&lt;Segment&gt;::iterator ListIter=ListOfSegments.begin();
<a name="l00709"></a>00709         <span class="keywordflow">for</span>(;ListIter!=ListOfSegments.end();ListIter++){
<a name="l00710"></a>00710                 <a class="code" href="classAgent.html#a4146de8fd62c2766e8263bf3af7859fb" title="Procedura zmienia uklad wspolrzednych segmentu.">ChangeStartOfCordSysForSegment</a>
<a name="l00711"></a>00711                         ((*ListIter), Into);
<a name="l00712"></a>00712         }
<a name="l00713"></a>00713 
<a name="l00714"></a>00714 }
<a name="l00715"></a>00715 
<a name="l00716"></a><a class="code" href="classAgent.html#a355fd36b0c2b604c89d7b29ad08890d7">00716</a> <a class="code" href="classSegment.html" title="Klasa opisujaca odcienek(prosta) w przestrzeni dwuwymiarowej.">Segment</a> <a class="code" href="classAgent.html#a355fd36b0c2b604c89d7b29ad08890d7" title="Funkcja szuka odcinka (prostej) prostopadlej do zadanej prostej w punkcie.">Agent::FindLinePerpendicularToPoint</a>(<a class="code" href="classSegment.html" title="Klasa opisujaca odcienek(prosta) w przestrzeni dwuwymiarowej.">Segment</a> OneSegment, <a class="code" href="classCoordinates.html">Coordinates</a> Point)
<a name="l00717"></a>00717 {
<a name="l00718"></a>00718 <a class="code" href="classSegment.html" title="Klasa opisujaca odcienek(prosta) w przestrzeni dwuwymiarowej.">Segment</a> ResultSegment;
<a name="l00719"></a>00719 <span class="keywordtype">double</span> t;
<a name="l00720"></a>00720 ResultSegment.<a class="code" href="classSegment.html#a1b3d58ab45b040d60ba2fb6385526fda">_XParamA</a>=-1.0*OneSegment.<a class="code" href="classSegment.html#a951ffa6de4422a7bfe8955753775cde8">_YParamA</a>;
<a name="l00721"></a>00721 ResultSegment.<a class="code" href="classSegment.html#a951ffa6de4422a7bfe8955753775cde8">_YParamA</a>=OneSegment.<a class="code" href="classSegment.html#a1b3d58ab45b040d60ba2fb6385526fda">_XParamA</a>;
<a name="l00722"></a>00722 <span class="comment">//t=(Point._x-OneSegment._XParamB)/OneSegment._XParamA;</span>
<a name="l00723"></a>00723 <span class="comment">//ResultSegment._XParamB=Point._x-ResultSegment._XParamA*t;</span>
<a name="l00724"></a>00724 <span class="comment">//t=(Point._y-OneSegment._YParamB)/OneSegment._YParamA;</span>
<a name="l00725"></a>00725 <span class="comment">//ResultSegment._YParamB=Point._y-ResultSegment._YParamA*t;</span>
<a name="l00726"></a>00726 ResultSegment.<a class="code" href="classSegment.html#add1eb7f6085946f04808ac96eff4a2a6" title="wspolczynniki rownania opisujacego ruch dla osi X=at+b">_XParamB</a>=Point.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a>;
<a name="l00727"></a>00727 ResultSegment.<a class="code" href="classSegment.html#a7515a9f8f060e6b9a806bbdabf5a1679" title="wspolczynniki rownania opisujacego ruch dla osi Y=at+b">_YParamB</a>=Point.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a>;
<a name="l00728"></a>00728 ResultSegment.<a class="code" href="classSegment.html#ae628193c6d019a46071bf2d649e8b57b" title="poczatek odcinka">_Start</a>=<a class="code" href="classCoordinates.html">Coordinates</a>(Point.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a>,Point.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a>);
<a name="l00729"></a>00729 ResultSegment.<a class="code" href="classSegment.html#abaf11cb5b3b623c9dc278ca7bac5bdf0" title="koniec odcinka">_End</a>=<a class="code" href="classCoordinates.html">Coordinates</a>(Point.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a>,Point.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a>);
<a name="l00730"></a>00730 <span class="comment">//pamietaj ze _Start i _End nie jest ustawione</span>
<a name="l00731"></a>00731 <span class="keywordflow">return</span> ResultSegment;
<a name="l00732"></a>00732 
<a name="l00733"></a>00733 }
<a name="l00734"></a>00734 
<a name="l00735"></a><a class="code" href="classAgent.html#acc8d2f2989984b4bbe85c92113552ab0">00735</a> <a class="code" href="classCoordinates.html">Coordinates</a> <a class="code" href="classAgent.html#acc8d2f2989984b4bbe85c92113552ab0" title="Funkcja szuka punktu przeciecia dwoch odcinkow (prostych).">Agent::FindCrossPointBetweenSegments</a>(<a class="code" href="classSegment.html" title="Klasa opisujaca odcienek(prosta) w przestrzeni dwuwymiarowej.">Segment</a> Seg1,<a class="code" href="classSegment.html" title="Klasa opisujaca odcienek(prosta) w przestrzeni dwuwymiarowej.">Segment</a> Seg2)
<a name="l00736"></a>00736 {
<a name="l00737"></a>00737 
<a name="l00738"></a>00738         <span class="keywordtype">double</span> y=0;
<a name="l00739"></a>00739         <span class="keywordtype">double</span> x=0;
<a name="l00740"></a>00740 <span class="keywordflow">if</span>(Seg1.<a class="code" href="classSegment.html#a1b3d58ab45b040d60ba2fb6385526fda">_XParamA</a>*Seg2.<a class="code" href="classSegment.html#a1b3d58ab45b040d60ba2fb6385526fda">_XParamA</a>==0.0){
<a name="l00741"></a>00741         <span class="keywordflow">if</span>((Seg2.<a class="code" href="classSegment.html#a1b3d58ab45b040d60ba2fb6385526fda">_XParamA</a>==0.0)&amp;&amp;(Seg1.<a class="code" href="classSegment.html#a1b3d58ab45b040d60ba2fb6385526fda">_XParamA</a>==0.0)){
<a name="l00742"></a>00742                 cerr&lt;&lt;<span class="stringliteral">&quot;Proste rownolegle lub proste nie przecinaja sie&quot;</span>&lt;&lt;endl;
<a name="l00743"></a>00743                 exit(1);
<a name="l00744"></a>00744         }<span class="keywordflow">else</span> <span class="keywordflow">if</span>(Seg2.<a class="code" href="classSegment.html#a1b3d58ab45b040d60ba2fb6385526fda">_XParamA</a>==0.0){
<a name="l00745"></a>00745                 x=Seg2.<a class="code" href="classSegment.html#add1eb7f6085946f04808ac96eff4a2a6" title="wspolczynniki rownania opisujacego ruch dla osi X=at+b">_XParamB</a>;
<a name="l00746"></a>00746                 y=(x-Seg1.<a class="code" href="classSegment.html#add1eb7f6085946f04808ac96eff4a2a6" title="wspolczynniki rownania opisujacego ruch dla osi X=at+b">_XParamB</a>)/Seg1.<a class="code" href="classSegment.html#a1b3d58ab45b040d60ba2fb6385526fda">_XParamA</a>*Seg1.<a class="code" href="classSegment.html#a951ffa6de4422a7bfe8955753775cde8">_YParamA</a>+Seg1.<a class="code" href="classSegment.html#a7515a9f8f060e6b9a806bbdabf5a1679" title="wspolczynniki rownania opisujacego ruch dla osi Y=at+b">_YParamB</a>;
<a name="l00747"></a>00747         }<span class="keywordflow">else</span>{
<a name="l00748"></a>00748                 x=Seg1.<a class="code" href="classSegment.html#add1eb7f6085946f04808ac96eff4a2a6" title="wspolczynniki rownania opisujacego ruch dla osi X=at+b">_XParamB</a>;
<a name="l00749"></a>00749                 y=(x-Seg2.<a class="code" href="classSegment.html#add1eb7f6085946f04808ac96eff4a2a6" title="wspolczynniki rownania opisujacego ruch dla osi X=at+b">_XParamB</a>)/Seg2.<a class="code" href="classSegment.html#a1b3d58ab45b040d60ba2fb6385526fda">_XParamA</a>*Seg2.<a class="code" href="classSegment.html#a951ffa6de4422a7bfe8955753775cde8">_YParamA</a>+Seg2.<a class="code" href="classSegment.html#a7515a9f8f060e6b9a806bbdabf5a1679" title="wspolczynniki rownania opisujacego ruch dla osi Y=at+b">_YParamB</a>;
<a name="l00750"></a>00750         }
<a name="l00751"></a>00751 
<a name="l00752"></a>00752 }<span class="keywordflow">else</span> <span class="keywordflow">if</span>(Seg1.<a class="code" href="classSegment.html#a951ffa6de4422a7bfe8955753775cde8">_YParamA</a>*Seg2.<a class="code" href="classSegment.html#a951ffa6de4422a7bfe8955753775cde8">_YParamA</a>==0.0){
<a name="l00753"></a>00753         <span class="keywordflow">if</span>((Seg2.<a class="code" href="classSegment.html#a951ffa6de4422a7bfe8955753775cde8">_YParamA</a>==0.0)&amp;&amp;(Seg1.<a class="code" href="classSegment.html#a951ffa6de4422a7bfe8955753775cde8">_YParamA</a>==0.0)){
<a name="l00754"></a>00754                 cerr&lt;&lt;<span class="stringliteral">&quot;Proste rownolegle lub proste nie przecinaja sie&quot;</span>&lt;&lt;endl;
<a name="l00755"></a>00755                 exit(1);
<a name="l00756"></a>00756         }<span class="keywordflow">else</span> <span class="keywordflow">if</span>(Seg2.<a class="code" href="classSegment.html#a951ffa6de4422a7bfe8955753775cde8">_YParamA</a>==0.0){
<a name="l00757"></a>00757                 y=Seg2.<a class="code" href="classSegment.html#a7515a9f8f060e6b9a806bbdabf5a1679" title="wspolczynniki rownania opisujacego ruch dla osi Y=at+b">_YParamB</a>;
<a name="l00758"></a>00758                 x=(y-Seg1.<a class="code" href="classSegment.html#a7515a9f8f060e6b9a806bbdabf5a1679" title="wspolczynniki rownania opisujacego ruch dla osi Y=at+b">_YParamB</a>)/Seg1.<a class="code" href="classSegment.html#a951ffa6de4422a7bfe8955753775cde8">_YParamA</a>*Seg1.<a class="code" href="classSegment.html#a1b3d58ab45b040d60ba2fb6385526fda">_XParamA</a>+Seg1.<a class="code" href="classSegment.html#add1eb7f6085946f04808ac96eff4a2a6" title="wspolczynniki rownania opisujacego ruch dla osi X=at+b">_XParamB</a>;
<a name="l00759"></a>00759         }<span class="keywordflow">else</span>{
<a name="l00760"></a>00760                 y=Seg1.<a class="code" href="classSegment.html#a7515a9f8f060e6b9a806bbdabf5a1679" title="wspolczynniki rownania opisujacego ruch dla osi Y=at+b">_YParamB</a>;
<a name="l00761"></a>00761                 x=(y-Seg2.<a class="code" href="classSegment.html#a7515a9f8f060e6b9a806bbdabf5a1679" title="wspolczynniki rownania opisujacego ruch dla osi Y=at+b">_YParamB</a>)/Seg2.<a class="code" href="classSegment.html#a951ffa6de4422a7bfe8955753775cde8">_YParamA</a>*Seg2.<a class="code" href="classSegment.html#a1b3d58ab45b040d60ba2fb6385526fda">_XParamA</a>+Seg2.<a class="code" href="classSegment.html#add1eb7f6085946f04808ac96eff4a2a6" title="wspolczynniki rownania opisujacego ruch dla osi X=at+b">_XParamB</a>;
<a name="l00762"></a>00762         }
<a name="l00763"></a>00763 
<a name="l00764"></a>00764 }<span class="keywordflow">else</span>{
<a name="l00765"></a>00765         y=((Seg2.<a class="code" href="classSegment.html#a951ffa6de4422a7bfe8955753775cde8">_YParamA</a>*Seg1.<a class="code" href="classSegment.html#a1b3d58ab45b040d60ba2fb6385526fda">_XParamA</a>)/(Seg1.<a class="code" href="classSegment.html#a951ffa6de4422a7bfe8955753775cde8">_YParamA</a>*Seg2.<a class="code" href="classSegment.html#a1b3d58ab45b040d60ba2fb6385526fda">_XParamA</a>)*-Seg1.<a class="code" href="classSegment.html#a7515a9f8f060e6b9a806bbdabf5a1679" title="wspolczynniki rownania opisujacego ruch dla osi Y=at+b">_YParamB</a>+
<a name="l00766"></a>00766                                 (Seg2.<a class="code" href="classSegment.html#a951ffa6de4422a7bfe8955753775cde8">_YParamA</a>)/(Seg2.<a class="code" href="classSegment.html#a1b3d58ab45b040d60ba2fb6385526fda">_XParamA</a>)*(Seg1.<a class="code" href="classSegment.html#add1eb7f6085946f04808ac96eff4a2a6" title="wspolczynniki rownania opisujacego ruch dla osi X=at+b">_XParamB</a>-Seg2.<a class="code" href="classSegment.html#add1eb7f6085946f04808ac96eff4a2a6" title="wspolczynniki rownania opisujacego ruch dla osi X=at+b">_XParamB</a>)+Seg2.<a class="code" href="classSegment.html#a7515a9f8f060e6b9a806bbdabf5a1679" title="wspolczynniki rownania opisujacego ruch dla osi Y=at+b">_YParamB</a>)
<a name="l00767"></a>00767                                 /(1.0-(Seg2.<a class="code" href="classSegment.html#a951ffa6de4422a7bfe8955753775cde8">_YParamA</a>*Seg1.<a class="code" href="classSegment.html#a1b3d58ab45b040d60ba2fb6385526fda">_XParamA</a>)/(Seg1.<a class="code" href="classSegment.html#a951ffa6de4422a7bfe8955753775cde8">_YParamA</a>*Seg2.<a class="code" href="classSegment.html#a1b3d58ab45b040d60ba2fb6385526fda">_XParamA</a>));
<a name="l00768"></a>00768         x=(Seg1.<a class="code" href="classSegment.html#a1b3d58ab45b040d60ba2fb6385526fda">_XParamA</a>)/(Seg1.<a class="code" href="classSegment.html#a951ffa6de4422a7bfe8955753775cde8">_YParamA</a>)*(y-Seg1.<a class="code" href="classSegment.html#a7515a9f8f060e6b9a806bbdabf5a1679" title="wspolczynniki rownania opisujacego ruch dla osi Y=at+b">_YParamB</a>)+Seg1.<a class="code" href="classSegment.html#add1eb7f6085946f04808ac96eff4a2a6" title="wspolczynniki rownania opisujacego ruch dla osi X=at+b">_XParamB</a>;
<a name="l00769"></a>00769 }
<a name="l00770"></a>00770         <a class="code" href="classCoordinates.html">Coordinates</a> ResultCoordinates(x,y);
<a name="l00771"></a>00771 <span class="keywordflow">return</span> ResultCoordinates;
<a name="l00772"></a>00772 
<a name="l00773"></a>00773 }
<a name="l00774"></a>00774 
<a name="l00775"></a>00775 
<a name="l00776"></a><a class="code" href="classAgent.html#a1aab1eb9d67e80350290da71cfecb729">00776</a> <a class="code" href="classCoordinates.html">Coordinates</a> <a class="code" href="classAgent.html#a1aab1eb9d67e80350290da71cfecb729" title="Funkcja zamienia wspolrzedne globalne na wspolrzedne kwadratu w ktorym znajduje sie agent...">Agent::CoordinatesToSquare</a>(<a class="code" href="classCoordinates.html">Coordinates</a> C, <span class="keywordtype">double</span> SquareLength)
<a name="l00777"></a>00777 {
<a name="l00778"></a>00778         <a class="code" href="classCoordinates.html">Coordinates</a> SquareCoordinates;
<a name="l00779"></a>00779         <span class="keywordtype">double</span> SquareX,SquareY;
<a name="l00780"></a>00780         SquareX=floor(C.<a class="code" href="classCoordinates.html#a46cd0305b4b243bed88609cae8a8deaa">_x</a> / SquareLength);
<a name="l00781"></a>00781                 <span class="comment">//if((C._x / SquareLength)==SquareX)//jezeli na granicy kwadratow</span>
<a name="l00782"></a>00782                         <span class="comment">//if(ListIter-&gt;_XParamA&lt;0)//jezeli pochodna ujemna</span>
<a name="l00783"></a>00783                                 <span class="comment">//SquareX--;</span>
<a name="l00784"></a>00784         SquareY=floor(C.<a class="code" href="classCoordinates.html#a4b1ebcbd2c5762be3a0bf12db756a2f9" title="wspolrzedne obiektu w przestrzeni dwuwymiarowej">_y</a> / SquareLength);
<a name="l00785"></a>00785                 <span class="comment">//if((C._y / SquareLength)==SquareY)//jezeli na granicy kwadratow</span>
<a name="l00786"></a>00786                         <span class="comment">//if(ListIter-&gt;_YParamA&lt;0)//jezeli pochodna ujemna</span>
<a name="l00787"></a>00787                                 <span class="comment">//SquareY--;</span>
<a name="l00788"></a>00788 
<a name="l00789"></a>00789         SquareCoordinates=<a class="code" href="classCoordinates.html">Coordinates</a>(SquareX,SquareY);
<a name="l00790"></a>00790 
<a name="l00791"></a>00791         <span class="keywordflow">return</span> SquareCoordinates;
<a name="l00792"></a>00792 }
<a name="l00793"></a><a class="code" href="classAgent.html#ad3b5374997fe013a5ec059a737f590f2">00793</a> <span class="keywordtype">void</span> <a class="code" href="classAgent.html#ad3b5374997fe013a5ec059a737f590f2">Agent::DoSthWhenIAmWaitingToEnterSquare</a>(){};
<a name="l00794"></a><a class="code" href="classAgent.html#a1a31e1da3a9e6abaa9225fe0759b5d2c">00794</a> <span class="keywordtype">void</span> <a class="code" href="classAgent.html#a1a31e1da3a9e6abaa9225fe0759b5d2c">Agent::DoSthWhenIAmLeavingSquare</a>(){};
<a name="l00795"></a>00795 
</pre></div></div>
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<hr class="footer"/><address class="footer"><small>Wygenerowano Thu Dec 15 2011 16:57:10 dla Rozproszony_system_koordynacji_agentow_mobilnych programem&nbsp;
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<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.7.1 </small></address>
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